Upload policy_parameters.yaml to 2026-02-10_09-34-36_T2_running_body_ang_vel_reward_sym

running_clf_sym/2026-02-10_09-34-36_T2_running_body_ang_vel_reward_sym/policy_parameters.yaml

@@ -0,0 +1,64 @@
+num_obs: 74
+num_actions: 21
+dt: 0.02
+gait_period_range: [0.8, 0.8]
+action_scale:
+  .*_hip_yaw_joint: 0.27377323260711517
+  .*_hip_roll_joint: 0.17533073318941214
+  .*_hip_pitch_joint: 0.27377323260711517
+  .*_knee_joint: 0.17533073318941214
+  .*_ankle_pitch_joint: 0.21928865696168362
+  .*_ankle_roll_joint: 0.21928865696168362
+  waist_yaw_joint: 0.27377323260711517
+  .*_shoulder_pitch_joint: 0.21928865696168362
+  .*_shoulder_roll_joint: 0.21928865696168362
+  .*_shoulder_yaw_joint: 0.21928865696168362
+  .*_elbow_joint: 0.21928865696168362
+skill_type: half_periodic
+total_time: 0.5979999899864197
+v_x_max: 3.7
+v_x_min: 1.1
+v_y_max: 0.5
+v_y_min: -0.5
+w_z_max: 0.5
+w_z_min: -0.5
+default_joint_angles: [-0.25, -0.25, 0.0, 0.0, 0.0, 0.3100000023841858, 0.3100000023841858, 0.0, 0.0, 0.23999999463558197,
+  -0.23999999463558197, 0.46000000834465027, 0.46000000834465027, 0.0, 0.0, -0.25, -0.25, 0.800000011920929, 0.800000011920929,
+  0.0, 0.0]
+joint_names_isaac: [left_hip_pitch_joint, right_hip_pitch_joint, waist_yaw_joint, left_hip_roll_joint, right_hip_roll_joint,
+  left_shoulder_pitch_joint, right_shoulder_pitch_joint, left_hip_yaw_joint, right_hip_yaw_joint, left_shoulder_roll_joint,
+  right_shoulder_roll_joint, left_knee_joint, right_knee_joint, left_shoulder_yaw_joint, right_shoulder_yaw_joint, left_ankle_pitch_joint,
+  right_ankle_pitch_joint, left_elbow_joint, right_elbow_joint, left_ankle_roll_joint, right_ankle_roll_joint]
+kp: [40.17923847137318, 40.17923847137318, 40.17923847137318, 99.09842777666113, 99.09842777666113, 14.25062309787429, 14.25062309787429,
+  40.17923847137318, 40.17923847137318, 14.25062309787429, 14.25062309787429, 99.09842777666113, 99.09842777666113, 14.25062309787429,
+  14.25062309787429, 28.50124619574858, 28.50124619574858, 14.25062309787429, 14.25062309787429, 28.50124619574858, 28.50124619574858]
+kd: [2.5578897650279457, 2.5578897650279457, 2.5578897650279457, 6.3088018534966395, 6.3088018534966395, 0.907222843292423,
+  0.907222843292423, 2.5578897650279457, 2.5578897650279457, 0.907222843292423, 0.907222843292423, 6.3088018534966395, 6.3088018534966395,
+  0.907222843292423, 0.907222843292423, 1.814445686584846, 1.814445686584846, 0.907222843292423, 0.907222843292423, 1.814445686584846,
+  1.814445686584846]
+observation_terms:
+  policy:
+    base_ang_vel:
+      shape: 3
+      scale: 1.0
+    projected_gravity:
+      shape: 3
+      scale: 1.0
+    velocity_commands:
+      shape: 3
+      scale: [2.0, 2.0, 2.0]
+    joint_pos:
+      shape: 21
+      scale: 1.0
+    joint_vel:
+      shape: 21
+      scale: 0.05000000074505806
+    actions:
+      shape: 21
+      scale: 1.0
+    sin_phase:
+      shape: 1
+      scale: 1.0
+    cos_phase:
+      shape: 1
+      scale: 1.0