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2026-06-27_11-44-00/git/ATEC2026_Simulation_Challenge.diff

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+--- git status ---
+On branch task_d
+Untracked files:
+  (use "git add <file>..." to include in what will be committed)
+	IsaacLab/
+	demo/act_ckpt/
+	lerobot/
+	robot_lab/
+	submission_task_e_act/
+	submission_task_e_smolvla/
+	tools/
+
+nothing added to commit but untracked files present (use "git add" to track) 
+
+
+--- git diff ---

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+save_interval: 100
+experiment_name: unitree_b2_rough
+run_name: ''
+logger: tensorboard
+neptune_project: isaaclab
+wandb_project: isaaclab
+resume: false
+load_run: .*
+load_checkpoint: model_.*.pt
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+  init_noise_std: 1.0
+  noise_std_type: scalar
+  state_dependent_std: false
+  actor_obs_normalization: false
+  critic_obs_normalization: false
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+  dt: 0.005
+  render_interval: 4
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+    gpu_max_num_partitions: 8
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+    gpu_max_particle_contacts: 1048576
+  physics_material:
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+    dynamic_friction: 1.0
+    restitution: 1.0
+    friction_combine_mode: multiply
+    restitution_combine_mode: multiply
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+    enable_reflections: null
+    enable_global_illumination: null
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+    enable_dlssg: null
+    enable_dl_denoiser: null
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+    carb_settings: null
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+  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:
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+  env_spacing: 2.5
+  lazy_sensor_update: true
+  replicate_physics: true
+  filter_collisions: true
+  clone_in_fabric: false
+  robot:
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+    prim_path: /World/envs/env_.*/Robot
+    spawn:
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+    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: null
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+      - 0.9659258262890683
+      - 0.0
+      - 0.25881904510252074
+      - 0.0
+      convention: world
+    ee_camera_offset: null
+    joint_names: []
+    wheel_joint_names: []
+    leg_joint_names: []
+    arm_joint_names: []
+  terrain:
+    class_type: isaaclab.terrains.terrain_importer:TerrainImporter
+    collision_group: -1
+    prim_path: /World/ground
+    num_envs: 4096
+    terrain_type: generator
+    terrain_generator:
+      class_type: isaaclab.terrains.terrain_generator:TerrainGenerator
+      seed: null
+      curriculum: true
+      size: !!python/tuple
+      - 8.0
+      - 8.0
+      border_width: 20.0
+      border_height: 1.0
+      num_rows: 10
+      num_cols: 20
+      color_scheme: none
+      horizontal_scale: 0.1
+      vertical_scale: 0.005
+      slope_threshold: 0.75
+      sub_terrains:
+        pyramid_stairs:
+          function: isaaclab.terrains.trimesh.mesh_terrains:pyramid_stairs_terrain
+          proportion: 0.2
+          size: !!python/tuple
+          - 8.0
+          - 8.0
+          flat_patch_sampling: null
+          border_width: 1.0
+          step_height_range: !!python/tuple
+          - 0.05
+          - 0.23
+          step_width: 0.3
+          platform_width: 3.0
+          holes: false
+        pyramid_stairs_inv:
+          function: isaaclab.terrains.trimesh.mesh_terrains:inverted_pyramid_stairs_terrain
+          proportion: 0.2
+          size: !!python/tuple
+          - 8.0
+          - 8.0
+          flat_patch_sampling: null
+          border_width: 1.0
+          step_height_range: !!python/tuple
+          - 0.05
+          - 0.23
+          step_width: 0.3
+          platform_width: 3.0
+          holes: false
+        boxes:
+          function: isaaclab.terrains.trimesh.mesh_terrains:random_grid_terrain
+          proportion: 0.2
+          size: !!python/tuple
+          - 8.0
+          - 8.0
+          flat_patch_sampling: null
+          grid_width: 0.45
+          grid_height_range: !!python/tuple
+          - 0.05
+          - 0.2
+          platform_width: 2.0
+          holes: false
+        random_rough:
+          function: isaaclab.terrains.height_field.hf_terrains:random_uniform_terrain
+          proportion: 0.2
+          size: !!python/tuple
+          - 8.0
+          - 8.0
+          flat_patch_sampling: null
+          border_width: 0.25
+          horizontal_scale: 0.1
+          vertical_scale: 0.005
+          slope_threshold: 0.75
+          noise_range: !!python/tuple
+          - 0.02
+          - 0.1
+          noise_step: 0.02
+          downsampled_scale: null
+        hf_pyramid_slope:
+          function: isaaclab.terrains.height_field.hf_terrains:pyramid_sloped_terrain
+          proportion: 0.1
+          size: !!python/tuple
+          - 8.0
+          - 8.0
+          flat_patch_sampling: null
+          border_width: 0.25
+          horizontal_scale: 0.1
+          vertical_scale: 0.005
+          slope_threshold: 0.75
+          slope_range: !!python/tuple
+          - 0.0
+          - 0.4
+          platform_width: 2.0
+          inverted: false
+        hf_pyramid_slope_inv:
+          function: isaaclab.terrains.height_field.hf_terrains:pyramid_sloped_terrain
+          proportion: 0.1
+          size: !!python/tuple
+          - 8.0
+          - 8.0
+          flat_patch_sampling: null
+          border_width: 0.25
+          horizontal_scale: 0.1
+          vertical_scale: 0.005
+          slope_threshold: 0.75
+          slope_range: !!python/tuple
+          - 0.0
+          - 0.4
+          platform_width: 2.0
+          inverted: true
+      difficulty_range: !!python/tuple
+      - 0.0
+      - 1.0
+      use_cache: false
+      cache_dir: /tmp/isaaclab/terrains
+    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:
+    class_type: isaaclab.sensors.ray_caster.ray_caster:RayCaster
+    prim_path: /World/envs/env_.*/Robot/base_link
+    update_period: 0.02
+    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: 0.1
+      size:
+      - 1.6
+      - 1.0
+      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
+  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: isaaclab.envs.mdp.observations:joint_pos_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
+          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: -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
+          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: isaaclab.envs.mdp.observations:joint_pos_rel
+      params:
+        asset_cfg:
+          name: robot
+          joint_names: .*
+          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
+    joint_vel:
+      func: isaaclab.envs.mdp.observations:joint_vel_rel
+      params:
+        asset_cfg:
+          name: robot
+          joint_names: .*
+          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:
+      func: isaaclab.envs.mdp.observations:height_scan
+      params:
+        sensor_cfg:
+          name: height_scanner
+          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
+      modifiers: null
+      noise: null
+      clip: !!python/tuple
+      - -1.0
+      - 1.0
+      scale: 1.0
+      history_length: 0
+      flatten_history_dim: true
+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
+events:
+  randomize_rigid_body_material:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_material
+    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: .*
+        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
+      static_friction_range: !!python/tuple
+      - 0.3
+      - 1.0
+      dynamic_friction_range: !!python/tuple
+      - 0.3
+      - 0.8
+      restitution_range: !!python/tuple
+      - 0.0
+      - 0.5
+      num_buckets: 64
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  randomize_rigid_body_mass_base:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_mass
+    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
+      mass_distribution_params: !!python/tuple
+      - -1.0
+      - 3.0
+      operation: add
+      recompute_inertia: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  randomize_rigid_body_mass_others:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_mass
+    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
+      mass_distribution_params: !!python/tuple
+      - 0.7
+      - 1.3
+      operation: scale
+      recompute_inertia: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  randomize_com_positions:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_com
+    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
+      com_range:
+        x: !!python/tuple
+        - -0.05
+        - 0.05
+        y: !!python/tuple
+        - -0.05
+        - 0.05
+        z: !!python/tuple
+        - -0.05
+        - 0.05
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  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:
+    func: isaaclab.envs.mdp.events:randomize_actuator_gains
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: .*
+        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
+      stiffness_distribution_params: !!python/tuple
+      - 0.5
+      - 2.0
+      damping_distribution_params: !!python/tuple
+      - 0.5
+      - 2.0
+      operation: scale
+      distribution: uniform
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  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_b2_rough/2026-06-27_11-44-00
+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: .*
+        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: .*
+        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: .*
+        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: .*
+        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: .*
+        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: .*
+        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:
+    func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:feet_height_body
+    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:
+        - .*_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
+      tanh_mult: 2.0
+      target_height: -0.4
+      command_name: base_velocity
+    weight: -5.0
+  feet_distance_y_exp: null
+  upward:
+    func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:upward
+    params: {}
+    weight: 3.0
+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:
+    func: isaaclab_tasks.manager_based.locomotion.velocity.mdp.curriculums:terrain_levels_vel
+    params: {}
+  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
+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