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+clip_actions: null +save_interval: 100 +experiment_name: unitree_b2w_piper_flat +run_name: '' +logger: tensorboard +neptune_project: isaaclab +wandb_project: isaaclab +resume: false +load_run: .* +load_checkpoint: model_.*.pt +class_name: OnPolicyRunner +policy: + class_name: ActorCritic + init_noise_std: 1.0 + noise_std_type: scalar + state_dependent_std: false + actor_obs_normalization: false + critic_obs_normalization: false + actor_hidden_dims: + - 512 + - 256 + - 128 + critic_hidden_dims: + - 512 + - 256 + - 128 + activation: elu +algorithm: + class_name: PPO + num_learning_epochs: 5 + num_mini_batches: 4 + learning_rate: 0.001 + schedule: adaptive + gamma: 0.99 + lam: 0.95 + entropy_coef: 0.01 + 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 + rnd_cfg: null + symmetry_cfg: null diff --git a/params/env.yaml b/params/env.yaml new file mode 100644 index 0000000000000000000000000000000000000000..06dc62a331b549f59d2196d6c7ebf011fddae26a --- /dev/null +++ b/params/env.yaml @@ -0,0 +1,1718 @@ +viewer: + 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