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@@ -1813,3 +1813,5 @@ karate/M_Move3/policy_154/M_Move3_policy.onnx filter=lfs diff=lfs merge=lfs -tex
 karate/M_Move3/policy_154/M_Move3_policy.pt filter=lfs diff=lfs merge=lfs -text
 karate/M_Move4/policy_154/M_Move4_policy.onnx filter=lfs diff=lfs merge=lfs -text
 karate/M_Move4/policy_154/M_Move4_policy.pt filter=lfs diff=lfs merge=lfs -text
+karate/M_Move5/policy_154/M_Move5_policy.onnx filter=lfs diff=lfs merge=lfs -text
+karate/M_Move5/policy_154/M_Move5_policy.pt filter=lfs diff=lfs merge=lfs -text

karate/M_Move5/policy_154/M_Move5_policy.onnx

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+oid sha256:fa999bc00468d51ea7a0a8b1d37a6c75afc4435bb52e15cef0d2901255f220b7
+size 3067222

karate/M_Move5/policy_154/M_Move5_policy.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9708691e8d9300ec825b823fcec2d693627ff2dc9b4c19c3e15e91ba34bd8df9
+size 6732295

karate/M_Move5/policy_154/agent.yaml

@@ -0,0 +1,48 @@
+seed: 42
+num_steps_per_env: 24
+max_iterations: 15000
+obs_groups:
+  policy: !!python/tuple
+  - policy
+  critic: !!python/tuple
+  - critic
+save_interval: 250
+experiment_name: g1_tracking
+run_name: training
+logger: tensorboard
+wandb_project: mjlab
+wandb_tags: !!python/tuple []
+resume: false
+load_run: .*
+load_checkpoint: model_.*.pt
+clip_actions: null
+upload_model: true
+class_name: OnPolicyRunner
+algorithm:
+  num_learning_epochs: 5
+  num_mini_batches: 4
+  learning_rate: 0.0005
+  schedule: adaptive
+  gamma: 0.99
+  lam: 0.95
+  entropy_coef: 0.005
+  desired_kl: 0.01
+  max_grad_norm: 1.0
+  value_loss_coef: 1.0
+  use_clipped_value_loss: true
+  clip_param: 0.2
+  normalize_advantage_per_mini_batch: false
+policy:
+  actor_hidden_dims:
+  - 512
+  - 256
+  - 128
+  critic_hidden_dims:
+  - 512
+  - 256
+  - 128
+  activation: elu
+  init_noise_std: 1.0
+  noise_std_type: scalar
+  actor_obs_normalization: true
+  critic_obs_normalization: true

karate/M_Move5/policy_154/deployment_metadata_154.json

@@ -0,0 +1,15 @@
+{
+  "clip": "M_Move5",
+  "category": "karate",
+  "task": "Mjlab-Tracking-Flat-Unitree-G1-No-State-Estimation",
+  "obs_dim": 154,
+  "action_dim": 29,
+  "checkpoint": "model_14999.pt",
+  "run_dir": "/home/mitch/Repositories/mjlab-gui/logs/rsl_rl/g1_tracking/2026-05-31_12-29-39_training",
+  "created_at": "2026-05-31T17:24:28.327976",
+  "compatibility": "Unitree G1 EDU 29-DOF real robot, no state-estimation actor obs",
+  "removed_from_160_obs": [
+    "motion_anchor_pos_b",
+    "base_lin_vel"
+  ]
+}

karate/M_Move5/policy_154/env.yaml

@@ -0,0 +1,1043 @@
+decimation: 4
+scene:
+  num_envs: 8192
+  env_spacing: 2.0
+  terrain:
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      joint_pos:
+        .*: 0.0
+      joint_vel:
+        .*: 0.0
+    spec_fn: !!python/name:mjlab.entity.entity.%3Clambda%3E ''
+    articulation: null
+    lights: !!python/tuple
+    - name: sun
+      body: world
+      mode: fixed
+      target: null
+      type: directional
+      castshadow: true
+      pos: !!python/tuple
+      - 0
+      - 0
+      - 1.5
+      dir: !!python/tuple
+      - 0
+      - 0
+      - -1
+      cutoff: 45.0
+      exponent: 10.0
+    cameras: !!python/tuple []
+    textures: !!python/tuple
+    - name: groundplane
+      type: 2d
+      builtin: checker
+      rgb1: !!python/tuple
+      - 0.2
+      - 0.3
+      - 0.4
+      rgb2: !!python/tuple
+      - 0.1
+      - 0.2
+      - 0.3
+      width: 300
+      height: 300
+      mark: edge
+      markrgb: !!python/tuple
+      - 0.8
+      - 0.8
+      - 0.8
+    materials: !!python/tuple
+    - name: groundplane
+      rgba: !!python/tuple
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      texuniform: true
+      texrepeat: !!python/tuple
+      - 4
+      - 4
+      reflectance: 0.2
+      texture: groundplane
+      geom_names_expr: !!python/tuple
+      - terrain
+    collisions: !!python/tuple []
+    terrain_type: plane
+    terrain_generator: null
+    env_spacing: 2.0
+    max_init_terrain_level: null
+    num_envs: 8192
+  entities:
+    robot:
+      init_state:
+        pos: !!python/tuple
+        - 0
+        - 0
+        - 0.76
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+        lin_vel: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        ang_vel: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        joint_pos:
+          .*_hip_pitch_joint: -0.312
+          .*_knee_joint: 0.669
+          .*_ankle_pitch_joint: -0.363
+          .*_elbow_joint: 0.6
+          left_shoulder_roll_joint: 0.2
+          left_shoulder_pitch_joint: 0.2
+          right_shoulder_roll_joint: -0.2
+          right_shoulder_pitch_joint: 0.2
+        joint_vel:
+          .*: 0.0
+      spec_fn: !!python/name:mjlab.asset_zoo.robots.unitree_g1.g1_constants.get_spec ''
+      articulation:
+        actuators: !!python/tuple
+        - target_names_expr: !!python/tuple
+          - .*_elbow_joint
+          - .*_shoulder_pitch_joint
+          - .*_shoulder_roll_joint
+          - .*_shoulder_yaw_joint
+          - .*_wrist_roll_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.003609725
+          frictionloss: 0.0
+          stiffness: 14.25062309787429
+          damping: 0.907222843292423
+          effort_limit: 25.0
+        - target_names_expr: !!python/tuple
+          - .*_hip_pitch_joint
+          - .*_hip_yaw_joint
+          - waist_yaw_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.01017752004132231
+          frictionloss: 0.0
+          stiffness: 40.17923863450712
+          damping: 2.557889775413375
+          effort_limit: 88.0
+        - target_names_expr: !!python/tuple
+          - .*_hip_roll_joint
+          - .*_knee_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.025101924999999997
+          frictionloss: 0.0
+          stiffness: 99.09842777666111
+          damping: 6.308801853496639
+          effort_limit: 139.0
+        - target_names_expr: !!python/tuple
+          - .*_wrist_pitch_joint
+          - .*_wrist_yaw_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.00425
+          frictionloss: 0.0
+          stiffness: 16.77832748089279
+          damping: 1.06814150219
+          effort_limit: 5.0
+        - target_names_expr: !!python/tuple
+          - waist_pitch_joint
+          - waist_roll_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.00721945
+          frictionloss: 0.0
+          stiffness: 28.50124619574858
+          damping: 1.814445686584846
+          effort_limit: 50.0
+        - target_names_expr: !!python/tuple
+          - .*_ankle_pitch_joint
+          - .*_ankle_roll_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.00721945
+          frictionloss: 0.0
+          stiffness: 28.50124619574858
+          damping: 1.814445686584846
+          effort_limit: 50.0
+        soft_joint_pos_limit_factor: 0.9
+      lights: !!python/tuple []
+      cameras: !!python/tuple []
+      textures: !!python/tuple []
+      materials: !!python/tuple []
+      collisions: !!python/tuple
+      - geom_names_expr: !!python/tuple
+        - .*_collision
+        contype: 1
+        conaffinity: 1
+        condim:
+          ^(left|right)_foot[1-7]_collision$: 3
+          .*_collision: 1
+        priority:
+          ^(left|right)_foot[1-7]_collision$: 1
+        friction:
+          ^(left|right)_foot[1-7]_collision$: !!python/tuple
+          - 0.6
+        solref: null
+        solimp: null
+        disable_other_geoms: true
+  sensors: !!python/tuple
+  - name: self_collision
+    primary:
+      mode: subtree
+      pattern: pelvis
+      entity: robot
+      exclude: !!python/tuple []
+    secondary:
+      mode: subtree
+      pattern: pelvis
+      entity: robot
+      exclude: !!python/tuple []
+    fields: !!python/tuple
+    - found
+    reduce: none
+    num_slots: 1
+    secondary_policy: first
+    track_air_time: false
+    global_frame: false
+    history_length: 0
+    debug: false
+  extent: null
+  spec_fn: null
+observations:
+  actor:
+    terms:
+      command:
+        func: &id001 !!python/name:mjlab.envs.mdp.observations.generated_commands ''
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      motion_anchor_ori_b:
+        func: &id002 !!python/name:mjlab.tasks.tracking.mdp.observations.motion_anchor_ori_b ''
+        params:
+          command_name: motion
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.05
+          n_max: 0.05
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      base_ang_vel:
+        func: &id003 !!python/name:mjlab.envs.mdp.observations.builtin_sensor ''
+        params:
+          sensor_name: robot/imu_ang_vel
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.2
+          n_max: 0.2
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_pos:
+        func: &id004 !!python/name:mjlab.envs.mdp.observations.joint_pos_rel ''
+        params:
+          biased: true
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.01
+          n_max: 0.01
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_vel:
+        func: &id005 !!python/name:mjlab.envs.mdp.observations.joint_vel_rel ''
+        params: {}
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.5
+          n_max: 0.5
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      actions:
+        func: &id006 !!python/name:mjlab.envs.mdp.observations.last_action ''
+        params: {}
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: true
+    history_length: null
+    flatten_history_dim: true
+    nan_policy: disabled
+    nan_check_per_term: true
+  critic:
+    terms:
+      command:
+        func: *id001
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      motion_anchor_pos_b:
+        func: !!python/name:mjlab.tasks.tracking.mdp.observations.motion_anchor_pos_b ''
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      motion_anchor_ori_b:
+        func: *id002
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      body_pos:
+        func: !!python/name:mjlab.tasks.tracking.mdp.observations.robot_body_pos_b ''
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      body_ori:
+        func: !!python/name:mjlab.tasks.tracking.mdp.observations.robot_body_ori_b ''
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      base_lin_vel:
+        func: *id003
+        params:
+          sensor_name: robot/imu_lin_vel
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      base_ang_vel:
+        func: *id003
+        params:
+          sensor_name: robot/imu_ang_vel
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_pos:
+        func: *id004
+        params: {}
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_vel:
+        func: *id005
+        params: {}
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      actions:
+        func: *id006
+        params: {}
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    nan_policy: disabled
+    nan_check_per_term: true
+actions:
+  joint_pos:
+    entity_name: robot
+    clip: null
+    transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+    - joint
+    actuator_names: !!python/tuple
+    - .*
+    scale:
+      .*_elbow_joint: 0.43857731392336724
+      .*_shoulder_pitch_joint: 0.43857731392336724
+      .*_shoulder_roll_joint: 0.43857731392336724
+      .*_shoulder_yaw_joint: 0.43857731392336724
+      .*_wrist_roll_joint: 0.43857731392336724
+      .*_hip_pitch_joint: 0.5475464629911068
+      .*_hip_yaw_joint: 0.5475464629911068
+      waist_yaw_joint: 0.5475464629911068
+      .*_hip_roll_joint: 0.35066146637882434
+      .*_knee_joint: 0.35066146637882434
+      .*_wrist_pitch_joint: 0.07450087032950714
+      .*_wrist_yaw_joint: 0.07450087032950714
+      waist_pitch_joint: 0.43857731392336724
+      waist_roll_joint: 0.43857731392336724
+      .*_ankle_pitch_joint: 0.43857731392336724
+      .*_ankle_roll_joint: 0.43857731392336724
+    offset: 0.0
+    preserve_order: false
+    use_default_offset: true
+events:
+  push_robot:
+    func: !!python/name:mjlab.envs.mdp.events.push_by_setting_velocity ''
+    params:
+      velocity_range:
+        x: !!python/tuple
+        - -0.5
+        - 0.5
+        y: !!python/tuple
+        - -0.5
+        - 0.5
+        z: !!python/tuple
+        - -0.2
+        - 0.2
+        roll: !!python/tuple
+        - -0.52
+        - 0.52
+        pitch: !!python/tuple
+        - -0.52
+        - 0.52
+        yaw: !!python/tuple
+        - -0.78
+        - 0.78
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 1.0
+    - 3.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+  base_com:
+    func: !!python/name:mjlab.envs.mdp.dr.body.body_com_offset ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: !!python/tuple
+        - torso_link
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      operation: add
+      ranges:
+        0: !!python/tuple
+        - -0.025
+        - 0.025
+        1: !!python/tuple
+        - -0.05
+        - 0.05
+        2: !!python/tuple
+        - -0.05
+        - 0.05
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  encoder_bias:
+    func: !!python/name:mjlab.envs.mdp.dr.joint.encoder_bias ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      bias_range: !!python/tuple
+      - -0.01
+      - 0.01
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  foot_friction:
+    func: !!python/name:mjlab.envs.mdp.dr.geom.geom_friction ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: ^(left|right)_foot[1-7]_collision$
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      operation: abs
+      ranges: !!python/tuple
+      - 0.3
+      - 1.2
+      shared_random: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+seed: 42
+sim:
+  nconmax: 35
+  njmax: 250
+  ls_parallel: true
+  contact_sensor_maxmatch: 64
+  mujoco:
+    timestep: 0.005
+    integrator: implicitfast
+    impratio: 1.0
+    cone: pyramidal
+    jacobian: auto
+    solver: newton
+    iterations: 10
+    tolerance: 1.0e-08
+    ls_iterations: 20
+    ls_tolerance: 0.01
+    ccd_iterations: 50
+    gravity: !!python/tuple
+    - 0
+    - 0
+    - -9.81
+    multiccd: false
+  nan_guard:
+    enabled: false
+    buffer_size: 100
+    output_dir: /tmp/mjlab/nan_dumps
+    max_envs_to_dump: 5
+viewer:
+  lookat: !!python/tuple
+  - 0.0
+  - 0.0
+  - 0.0
+  distance: 3.0
+  elevation: -5.0
+  azimuth: 90.0
+  origin_type: !!python/object/apply:mjlab.viewer.viewer_config.OriginType
+  - 3
+  entity_name: robot
+  body_name: torso_link
+  env_idx: 0
+  enable_reflections: true
+  enable_shadows: true
+  height: 240
+  width: 320
+episode_length_s: 10.0
+rewards:
+  motion_global_root_pos:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_global_anchor_position_error_exp ''
+    params:
+      command_name: motion
+      std: 0.3
+    weight: 0.5
+  motion_global_root_ori:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_global_anchor_orientation_error_exp ''
+    params:
+      command_name: motion
+      std: 0.4
+    weight: 0.5
+  motion_body_pos:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_relative_body_position_error_exp ''
+    params:
+      command_name: motion
+      std: 0.3
+    weight: 1.0
+  motion_body_ori:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_relative_body_orientation_error_exp ''
+    params:
+      command_name: motion
+      std: 0.4
+    weight: 1.0
+  motion_body_lin_vel:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_global_body_linear_velocity_error_exp ''
+    params:
+      command_name: motion
+      std: 1.0
+    weight: 1.0
+  motion_body_ang_vel:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_global_body_angular_velocity_error_exp ''
+    params:
+      command_name: motion
+      std: 3.14
+    weight: 1.0
+  action_rate_l2:
+    func: !!python/name:mjlab.envs.mdp.rewards.action_rate_l2 ''
+    params: {}
+    weight: -0.1
+  joint_limit:
+    func: !!python/name:mjlab.envs.mdp.rewards.joint_pos_limits ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: !!python/tuple
+        - .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -10.0
+  self_collisions:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.self_collision_cost ''
+    params:
+      sensor_name: self_collision
+    weight: -10.0
+terminations:
+  time_out:
+    func: !!python/name:mjlab.envs.mdp.terminations.time_out ''
+    params: {}
+    time_out: true
+  anchor_pos:
+    func: !!python/name:mjlab.tasks.tracking.mdp.terminations.bad_anchor_pos_z_only ''
+    params:
+      command_name: motion
+      threshold: 0.25
+    time_out: false
+  anchor_ori:
+    func: !!python/name:mjlab.tasks.tracking.mdp.terminations.bad_anchor_ori ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      command_name: motion
+      threshold: 0.8
+    time_out: false
+  ee_body_pos:
+    func: !!python/name:mjlab.tasks.tracking.mdp.terminations.bad_motion_body_pos_z_only ''
+    params:
+      command_name: motion
+      threshold: 0.25
+      body_names: !!python/tuple
+      - left_ankle_roll_link
+      - right_ankle_roll_link
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+    time_out: false
+commands:
+  motion:
+    resampling_time_range: !!python/tuple
+    - 1000000000.0
+    - 1000000000.0
+    debug_vis: true
+    motion_file: /home/mitch/Repositories/g1-moves/karate/M_Move5/training/M_Move5.npz
+    anchor_body_name: torso_link
+    body_names: !!python/tuple
+    - pelvis
+    - left_hip_roll_link
+    - left_knee_link
+    - left_ankle_roll_link
+    - right_hip_roll_link
+    - right_knee_link
+    - right_ankle_roll_link
+    - torso_link
+    - left_shoulder_roll_link
+    - left_elbow_link
+    - left_wrist_yaw_link
+    - right_shoulder_roll_link
+    - right_elbow_link
+    - right_wrist_yaw_link
+    entity_name: robot
+    pose_range:
+      x: !!python/tuple
+      - -0.05
+      - 0.05
+      y: !!python/tuple
+      - -0.05
+      - 0.05
+      z: !!python/tuple
+      - -0.01
+      - 0.01
+      roll: !!python/tuple
+      - -0.1
+      - 0.1
+      pitch: !!python/tuple
+      - -0.1
+      - 0.1
+      yaw: !!python/tuple
+      - -0.2
+      - 0.2
+    velocity_range:
+      x: !!python/tuple
+      - -0.5
+      - 0.5
+      y: !!python/tuple
+      - -0.5
+      - 0.5
+      z: !!python/tuple
+      - -0.2
+      - 0.2
+      roll: !!python/tuple
+      - -0.52
+      - 0.52
+      pitch: !!python/tuple
+      - -0.52
+      - 0.52
+      yaw: !!python/tuple
+      - -0.78
+      - 0.78
+    joint_position_range: !!python/tuple
+    - -0.1
+    - 0.1
+    adaptive_kernel_size: 1
+    adaptive_lambda: 0.8
+    adaptive_uniform_ratio: 0.1
+    adaptive_alpha: 0.001
+    sampling_mode: adaptive
+    viz:
+      mode: ghost
+      ghost_color: !!python/tuple
+      - 0.5
+      - 0.7
+      - 0.5
+      - 0.5
+curriculum: {}
+metrics: {}
+is_finite_horizon: false
+scale_rewards_by_dt: true