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eye: !!python/tuple
- 7.5
- 7.5
- 7.5
lookat: !!python/tuple
- 0.0
- 0.0
- 0.0
cam_prim_path: /OmniverseKit_Persp
resolution: !!python/tuple
- 1280
- 720
origin_type: world
env_index: 0
asset_name: null
body_name: null
sim:
physics_prim_path: /physicsScene
device: cuda:0
dt: 0.005
render_interval: 4
gravity: !!python/tuple
- 0.0
- 0.0
- -9.81
enable_scene_query_support: false
use_fabric: true
physx:
solver_type: 1
solve_articulation_contact_last: false
min_position_iteration_count: 1
max_position_iteration_count: 255
min_velocity_iteration_count: 0
max_velocity_iteration_count: 255
enable_ccd: false
enable_stabilization: false
enable_external_forces_every_iteration: false
enable_enhanced_determinism: false
bounce_threshold_velocity: 0.5
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
gpu_max_rigid_contact_count: 8388608
gpu_max_rigid_patch_count: 327680
gpu_found_lost_pairs_capacity: 2097152
gpu_found_lost_aggregate_pairs_capacity: 33554432
gpu_total_aggregate_pairs_capacity: 2097152
gpu_collision_stack_size: 67108864
gpu_heap_capacity: 67108864
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
physics_material:
func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
static_friction: 1.0
dynamic_friction: 1.0
restitution: 1.0
friction_combine_mode: multiply
restitution_combine_mode: multiply
compliant_contact_stiffness: 0.0
compliant_contact_damping: 0.0
render:
enable_translucency: null
enable_reflections: null
enable_global_illumination: null
antialiasing_mode: null
enable_dlssg: null
enable_dl_denoiser: null
dlss_mode: null
enable_direct_lighting: null
samples_per_pixel: null
enable_shadows: null
enable_ambient_occlusion: null
dome_light_upper_lower_strategy: null
carb_settings: null
rendering_mode: null
create_stage_in_memory: false
logging_level: WARNING
save_logs_to_file: true
log_dir: null
ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
seed: 42
decimation: 4
scene:
num_envs: 4096
env_spacing: 2.5
lazy_sensor_update: true
replicate_physics: true
filter_collisions: true
clone_in_fabric: false
robot:
class_type: isaaclab.assets.articulation.articulation:Articulation
prim_path: /World/envs/env_.*/Robot
spawn:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
semantic_tags: null
copy_from_source: true
mass_props: null
deformable_props: null
rigid_props:
rigid_body_enabled: null
kinematic_enabled: null
disable_gravity: false
linear_damping: 0.0
angular_damping: 0.0
max_linear_velocity: 1000.0
max_angular_velocity: 1000.0
max_depenetration_velocity: 1.0
max_contact_impulse: null
enable_gyroscopic_forces: null
retain_accelerations: false
solver_position_iteration_count: null
solver_velocity_iteration_count: null
sleep_threshold: null
stabilization_threshold: null
collision_props: null
activate_contact_sensors: true
scale: null
articulation_props:
articulation_enabled: null
enabled_self_collisions: false
solver_position_iteration_count: 4
solver_velocity_iteration_count: 1
sleep_threshold: null
stabilization_threshold: null
fix_root_link: null
fixed_tendons_props: null
spatial_tendons_props: null
joint_drive_props: null
visual_material_path: material
visual_material: null
usd_path: /data/wanshan/workspace/learning/isaaclab/ATEC2026_Simulation_Challenge/atec_robot_model/robot/b2w/b2w_piper.usda
variants: null
init_state:
pos: !!python/tuple
- 0.0
- 0.0
- 0.78
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:
.*R_hip_joint: -0.1
.*L_hip_joint: 0.1
F[L,R]_thigh_joint: 0.8
R[L,R]_thigh_joint: 1.0
.*_calf_joint: -1.5
joint_vel:
.*: 0.0
collision_group: 0
debug_vis: false
articulation_root_prim_path: null
soft_joint_pos_limit_factor: 0.9
actuators:
M107-24-2:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- .*_hip_.*
- .*_thigh_.*
effort_limit: null
velocity_limit: null
effort_limit_sim: 200
velocity_limit_sim: 23
stiffness: 160.0
damping: 5.0
armature: 0.01
friction: 0.01
dynamic_friction: null
viscous_friction: null
'2':
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- .*_calf_.*
effort_limit: null
velocity_limit: null
effort_limit_sim: 320
velocity_limit_sim: 14
stiffness: 160.0
damping: 5.0
armature: 0.01
friction: 0.01
dynamic_friction: null
viscous_friction: null
wheels:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr: .*_foot_joint
effort_limit: null
velocity_limit: null
effort_limit_sim: 20.0
velocity_limit_sim: 50.0
stiffness: 0.0
damping: 1.0
armature: 0.01
friction: 0.01
dynamic_friction: null
viscous_friction: null
arms:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr: arm_joint.*
effort_limit: null
velocity_limit: null
effort_limit_sim: 100.0
velocity_limit_sim: 100.0
stiffness: 80.0
damping: 4.0
armature: 0.01
friction: 0.01
dynamic_friction: null
viscous_friction: null
actuator_value_resolution_debug_print: false
base_link_name: base_link
lidar_sensor_link_name: base_link
head_camera_link_name: base_link
ee_camera_link_name: gripper_base
head_camera_offset:
pos: !!python/tuple
- 0.4216099977493286
- 0.02500000037252903
- 0.06185099855065346
rot: !!python/tuple
- 0.9659258262890683
- 0.0
- 0.25881904510252074
- 0.0
convention: world
ee_camera_offset:
pos: !!python/tuple
- -0.05
- 0.0
- 0.06
rot: !!python/tuple
- 0.7071067811865476
- 0.0
- 0.0
- -0.7071067811865475
convention: ros
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
- arm_joint1
- arm_joint2
- arm_joint3
- arm_joint4
- arm_joint5
- arm_joint6
- arm_joint7
- arm_joint8
wheel_joint_names:
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
leg_joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
arm_joint_names:
- arm_joint1
- arm_joint2
- arm_joint3
- arm_joint4
- arm_joint5
- arm_joint6
- arm_joint7
- arm_joint8
terrain:
class_type: isaaclab.terrains.terrain_importer:TerrainImporter
collision_group: -1
prim_path: /World/ground
num_envs: 4096
terrain_type: plane
terrain_generator: null
usd_path: null
env_spacing: 2.5
use_terrain_origins: true
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_from_mdl_file
mdl_path: /data/wanshan/workspace/learning/isaaclab/ATEC2026_Simulation_Challenge/atec_robot_model/scene/TilesMarbleSpiderWhiteBrickBondHoned.mdl
project_uvw: true
albedo_brightness: null
texture_scale: !!python/tuple
- 0.25
- 0.25
physics_material:
func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
static_friction: 1.0
dynamic_friction: 1.0
restitution: 1.0
friction_combine_mode: multiply
restitution_combine_mode: multiply
compliant_contact_stiffness: 0.0
compliant_contact_damping: 0.0
max_init_terrain_level: 5
debug_vis: false
height_scanner: null
height_scanner_base:
class_type: isaaclab.sensors.ray_caster.ray_caster:RayCaster
prim_path: /World/envs/env_.*/Robot/base_link
update_period: 0.0
history_length: 0
debug_vis: false
mesh_prim_paths:
- /World/ground
offset:
pos: !!python/tuple
- 0.0
- 0.0
- 20.0
rot: !!python/tuple
- 1.0
- 0.0
- 0.0
- 0.0
attach_yaw_only: null
ray_alignment: yaw
pattern_cfg:
func: isaaclab.sensors.ray_caster.patterns.patterns:grid_pattern
resolution: 0.05
size: !!python/tuple
- 0.1
- 0.1
direction: !!python/tuple
- 0.0
- 0.0
- -1.0
ordering: xy
max_distance: 1000000.0
drift_range: !!python/tuple
- 0.0
- 0.0
ray_cast_drift_range:
x: !!python/tuple
- 0.0
- 0.0
y: !!python/tuple
- 0.0
- 0.0
z: !!python/tuple
- 0.0
- 0.0
visualizer_cfg:
prim_path: /Visuals/RayCaster
markers:
hit:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: true
semantic_tags: null
copy_from_source: true
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 1.0
- 0.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
contact_forces:
class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
prim_path: /World/envs/env_.*/Robot/.*
update_period: 0.005
history_length: 3
debug_vis: false
track_pose: false
track_contact_points: false
track_friction_forces: false
max_contact_data_count_per_prim: 4
track_air_time: true
force_threshold: 1.0
filter_prim_paths_expr: []
visualizer_cfg:
prim_path: /Visuals/ContactSensor
markers:
contact:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: true
semantic_tags: null
copy_from_source: true
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 1.0
- 0.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
no_contact:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: false
semantic_tags: null
copy_from_source: true
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 0.0
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
sky_light:
class_type: null
prim_path: /World/skyLight
spawn:
func: isaaclab.sim.spawners.lights.lights:spawn_light
visible: true
semantic_tags: null
copy_from_source: true
prim_type: DomeLight
color: !!python/tuple
- 1.0
- 1.0
- 1.0
enable_color_temperature: false
color_temperature: 6500.0
normalize: false
exposure: 0.0
intensity: 750.0
texture_file: /data/wanshan/workspace/learning/isaaclab/ATEC2026_Simulation_Challenge/atec_robot_model/scene/kloofendal_43d_clear_puresky_4k.hdr
texture_format: automatic
visible_in_primary_ray: true
init_state:
pos: !!python/tuple
- 0.0
- 0.0
- 0.0
rot: !!python/tuple
- 1.0
- 0.0
- 0.0
- 0.0
collision_group: 0
debug_vis: false
recorders:
dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
dataset_export_dir_path: /tmp/isaaclab/logs
dataset_filename: dataset
dataset_export_mode:
_value_: 1
_name_: EXPORT_ALL
_sort_order_: 1
export_in_record_pre_reset: true
export_in_close: false
observations:
policy:
concatenate_terms: true
concatenate_dim: -1
enable_corruption: true
history_length: null
flatten_history_dim: true
base_lin_vel: null
base_ang_vel:
func: isaaclab.envs.mdp.observations:base_ang_vel
params: {}
modifiers: null
noise:
func: isaaclab.utils.noise.noise_model:uniform_noise
operation: add
n_min: -0.2
n_max: 0.2
clip: !!python/tuple
- -100.0
- 100.0
scale: 0.25
history_length: 0
flatten_history_dim: true
projected_gravity:
func: isaaclab.envs.mdp.observations:projected_gravity
params: {}
modifiers: null
noise:
func: isaaclab.utils.noise.noise_model:uniform_noise
operation: add
n_min: -0.05
n_max: 0.05
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
velocity_commands:
func: isaaclab.envs.mdp.observations:generated_commands
params:
command_name: base_velocity
modifiers: null
noise: null
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
joint_pos:
func: atec_rl_lab.train.locomotion.velocity.mdp.observations:joint_pos_rel_without_wheel
params:
asset_cfg:
name: robot
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: true
wheel_asset_cfg:
name: robot
joint_names:
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
modifiers: null
noise:
func: isaaclab.utils.noise.noise_model:uniform_noise
operation: add
n_min: -0.01
n_max: 0.01
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
joint_vel:
func: isaaclab.envs.mdp.observations:joint_vel_rel
params:
asset_cfg:
name: robot
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: true
modifiers: null
noise:
func: isaaclab.utils.noise.noise_model:uniform_noise
operation: add
n_min: -1.5
n_max: 1.5
clip: !!python/tuple
- -100.0
- 100.0
scale: 0.05
history_length: 0
flatten_history_dim: true
actions:
func: isaaclab.envs.mdp.observations:last_action
params: {}
modifiers: null
noise: null
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
height_scan: null
critic:
concatenate_terms: true
concatenate_dim: -1
enable_corruption: false
history_length: null
flatten_history_dim: true
base_lin_vel:
func: isaaclab.envs.mdp.observations:base_lin_vel
params: {}
modifiers: null
noise: null
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
base_ang_vel:
func: isaaclab.envs.mdp.observations:base_ang_vel
params: {}
modifiers: null
noise: null
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
projected_gravity:
func: isaaclab.envs.mdp.observations:projected_gravity
params: {}
modifiers: null
noise: null
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
velocity_commands:
func: isaaclab.envs.mdp.observations:generated_commands
params:
command_name: base_velocity
modifiers: null
noise: null
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
joint_pos:
func: atec_rl_lab.train.locomotion.velocity.mdp.observations:joint_pos_rel_without_wheel
params:
asset_cfg:
name: robot
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: true
wheel_asset_cfg:
name: robot
joint_names:
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
modifiers: null
noise: null
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
joint_vel:
func: isaaclab.envs.mdp.observations:joint_vel_rel
params:
asset_cfg:
name: robot
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: true
modifiers: null
noise: null
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
actions:
func: isaaclab.envs.mdp.observations:last_action
params: {}
modifiers: null
noise: null
clip: !!python/tuple
- -100.0
- 100.0
scale: 1.0
history_length: 0
flatten_history_dim: true
height_scan: null
actions:
joint_pos:
class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
asset_name: robot
debug_vis: false
clip:
.*: !!python/tuple
- -100.0
- 100.0
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
scale:
.*_hip_joint: 0.125
^(?!.*_hip_joint).*: 0.25
offset: 0.0
preserve_order: true
use_default_offset: true
joint_vel:
class_type: isaaclab.envs.mdp.actions.joint_actions:JointVelocityAction
asset_name: robot
debug_vis: false
clip:
.*: !!python/tuple
- -100.0
- 100.0
joint_names:
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
scale: 5.0
offset: 0.0
preserve_order: true
use_default_offset: true
joint_arm:
class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
asset_name: robot
debug_vis: false
clip:
.*: !!python/tuple
- -100.0
- 100.0
joint_names:
- arm_joint1
- arm_joint2
- arm_joint3
- arm_joint4
- arm_joint5
- arm_joint6
- arm_joint7
- arm_joint8
scale: 0.0
offset: 0.0
preserve_order: true
use_default_offset: true
events:
randomize_rigid_body_material: null
randomize_rigid_body_mass_base: null
randomize_rigid_body_mass_others: null
randomize_com_positions: null
randomize_apply_external_force_torque:
func: isaaclab.envs.mdp.events:apply_external_force_torque
params:
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names:
- base_link
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
force_range: !!python/tuple
- -30.0
- 30.0
torque_range: !!python/tuple
- -10.0
- 10.0
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
randomize_reset_joints:
func: isaaclab.envs.mdp.events:reset_joints_by_scale
params:
position_range: !!python/tuple
- 1.0
- 1.0
velocity_range: !!python/tuple
- 0.0
- 0.0
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
randomize_actuator_gains: null
randomize_reset_base:
func: atec_rl_lab.train.locomotion.velocity.mdp.events:reset_root_state_uniform
params:
pose_range:
x: !!python/tuple
- -0.5
- 0.5
y: !!python/tuple
- -0.5
- 0.5
z: !!python/tuple
- 0.0
- 0.2
roll: !!python/tuple
- -3.14
- 3.14
pitch: !!python/tuple
- -3.14
- 3.14
yaw: !!python/tuple
- -3.14
- 3.14
velocity_range:
x: !!python/tuple
- -0.5
- 0.5
y: !!python/tuple
- -0.5
- 0.5
z: !!python/tuple
- -0.5
- 0.5
roll: !!python/tuple
- -0.5
- 0.5
pitch: !!python/tuple
- -0.5
- 0.5
yaw: !!python/tuple
- -0.5
- 0.5
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
randomize_push_robot:
func: isaaclab.envs.mdp.events:push_by_setting_velocity
params:
velocity_range:
x: !!python/tuple
- -0.5
- 0.5
y: !!python/tuple
- -0.5
- 0.5
mode: interval
interval_range_s: !!python/tuple
- 10.0
- 15.0
is_global_time: false
min_step_count_between_reset: 0
rerender_on_reset: false
num_rerenders_on_reset: 0
wait_for_textures: true
xr: null
teleop_devices:
devices: {}
export_io_descriptors: false
log_dir: /data/wanshan/workspace/learning/isaaclab/ATEC2026_Simulation_Challenge/logs/rsl_rl/unitree_b2w_piper_flat/2026-06-27_00-04-38
is_finite_horizon: false
episode_length_s: 20.0
rewards:
is_terminated: null
lin_vel_z_l2:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:lin_vel_z_l2
params: {}
weight: -2.0
ang_vel_xy_l2:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:ang_vel_xy_l2
params: {}
weight: -0.05
flat_orientation_l2: null
base_height_l2: null
body_lin_acc_l2: null
joint_torques_l2:
func: isaaclab.envs.mdp.rewards:joint_torques_l2
params:
asset_cfg:
name: robot
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: -1.0e-05
joint_vel_l2: null
joint_acc_l2:
func: isaaclab.envs.mdp.rewards:joint_acc_l2
params:
asset_cfg:
name: robot
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: -1.0e-07
joint_pos_limits:
func: isaaclab.envs.mdp.rewards:joint_pos_limits
params:
asset_cfg:
name: robot
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: -5.0
joint_vel_limits: null
joint_power:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:joint_power
params:
asset_cfg:
name: robot
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: -1.0e-05
stand_still:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:stand_still
params:
command_name: base_velocity
command_threshold: 0.1
asset_cfg:
name: robot
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: -2.0
joint_pos_penalty:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:joint_pos_penalty
params:
command_name: base_velocity
asset_cfg:
name: robot
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
stand_still_scale: 5.0
velocity_threshold: 0.5
command_threshold: 0.1
weight: -1.0
wheel_vel_penalty: null
joint_mirror:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:joint_mirror
params:
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
mirror_joints:
- - FR_(hip|thigh|calf).*
- RL_(hip|thigh|calf).*
- - FL_(hip|thigh|calf).*
- RR_(hip|thigh|calf).*
weight: -0.05
action_mirror: null
action_sync: null
applied_torque_limits: null
action_rate_l2:
func: isaaclab.envs.mdp.rewards:action_rate_l2
params: {}
weight: -0.01
undesired_contacts:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:undesired_contacts
params:
sensor_cfg:
name: contact_forces
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names:
- ^(?!.*.*_foot).*
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
threshold: 1.0
weight: -1.0
contact_forces:
func: isaaclab.envs.mdp.rewards:contact_forces
params:
sensor_cfg:
name: contact_forces
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names:
- .*_foot
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
threshold: 100.0
weight: -0.00015
track_lin_vel_xy_exp:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:track_lin_vel_xy_exp
params:
command_name: base_velocity
std: 0.5
weight: 3.0
track_ang_vel_z_exp:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:track_ang_vel_z_exp
params:
command_name: base_velocity
std: 0.5
weight: 1.5
feet_air_time: null
feet_air_time_variance: null
feet_gait: null
feet_contact: null
feet_contact_without_cmd:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:feet_contact_without_cmd
params:
sensor_cfg:
name: contact_forces
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names:
- .*_foot
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
command_name: base_velocity
weight: 0.1
feet_stumble: null
feet_slide: null
feet_height: null
feet_height_body: null
feet_distance_y_exp: null
upward:
func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:upward
params: {}
weight: 3.0
joint_vel_wheel_l2: null
joint_acc_wheel_l2:
func: isaaclab.envs.mdp.rewards:joint_acc_l2
params:
asset_cfg:
name: robot
joint_names:
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: -2.5e-10
joint_torques_wheel_l2: null
terminations:
time_out:
func: isaaclab.envs.mdp.terminations:time_out
params: {}
time_out: true
terrain_out_of_bounds:
func: isaaclab_tasks.manager_based.locomotion.velocity.mdp.terminations:terrain_out_of_bounds
params:
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
distance_buffer: 3.0
time_out: true
illegal_contact: null
curriculum:
terrain_levels: null
command_levels_lin_vel: null
command_levels_ang_vel: null
commands:
base_velocity:
class_type: atec_rl_lab.train.locomotion.velocity.mdp.commands:UniformThresholdVelocityCommand
resampling_time_range: !!python/tuple
- 10.0
- 10.0
debug_vis: true
asset_name: robot
heading_command: true
heading_control_stiffness: 0.5
rel_standing_envs: 0.02
rel_heading_envs: 1.0
ranges:
lin_vel_x: !!python/tuple
- -1.0
- 1.0
lin_vel_y: !!python/tuple
- -1.0
- 1.0
ang_vel_z: !!python/tuple
- -1.0
- 1.0
heading: !!python/tuple
- -3.141592653589793
- 3.141592653589793
goal_vel_visualizer_cfg:
prim_path: /Visuals/Command/velocity_goal
markers:
arrow:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
semantic_tags: null
copy_from_source: true
mass_props: null
deformable_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
scale: !!python/tuple
- 0.5
- 0.5
- 0.5
articulation_props: null
fixed_tendons_props: null
spatial_tendons_props: null
joint_drive_props: null
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 0.0
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/arrow_x.usd
variants: null
current_vel_visualizer_cfg:
prim_path: /Visuals/Command/velocity_current
markers:
arrow:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
semantic_tags: null
copy_from_source: true
mass_props: null
deformable_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
scale: !!python/tuple
- 0.5
- 0.5
- 0.5
articulation_props: null
fixed_tendons_props: null
spatial_tendons_props: null
joint_drive_props: null
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 0.0
- 0.0
- 1.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/arrow_x.usd
variants: null
base_link_name: base_link
foot_link_name: .*_foot
leg_joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
wheel_joint_names:
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
arm_joint_names:
- arm_joint1
- arm_joint2
- arm_joint3
- arm_joint4
- arm_joint5
- arm_joint6
- arm_joint7
- arm_joint8
joint_names:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- FR_foot_joint
- FL_foot_joint
- RR_foot_joint
- RL_foot_joint
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