Upload policy_parameters.yaml to 2026-02-27_11-09-13_T1_running_ABL_CLF_GOAL_ADJ_DYNAMIC_HD_ALL_more_torque_pen_more_goal_sym

running_clf_sym/2026-02-27_11-09-13_T1_running_ABL_CLF_GOAL_ADJ_DYNAMIC_HD_ALL_more_torque_pen_more_goal_sym/policy_parameters.yaml

@@ -0,0 +1,74 @@
+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: 0.6019999980926514
+v_x_max: 3.7
+v_x_min: 1.1
+v_y_max: 0.75
+v_y_min: -0.75
+w_z_max: 0.75
+w_z_min: -0.75
+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]
+valid_ic_pos: [1.5831046104431152, -0.0904032289981842, 0.7873998284339905, 0.9996095895767212, 0.0028104782104492188, 0.02520669437944889,
+  -0.0025051101110875607, 0.015826381742954254, -0.3164146840572357, 0.014822178520262241, -0.008167143911123276, -0.03641276806592941,
+  -0.07303136587142944, 0.1180126965045929, 0.007713580038398504, 0.04328859597444534, 0.2399902641773224, -0.2399902641773224,
+  0.853797435760498, 1.3060932159423828, 8.429739653710577e-16, -5.629982360844631e-15, -0.4011465907096863, -0.667091965675354,
+  0.0999756008386612, 0.0999756008386612, -0.011284824460744858, 0.05892789736390114]
+valid_ic_vel: [3.658574104309082, 0.20835411548614502, -0.35500475764274597, -0.2650865316390991, -0.018124908208847046, -0.3048863410949707,
+  6.39860725402832, -6.931637763977051, 0.13150164484977722, 0.29466837644577026, 0.6136124730110168, -5.526350021362305,
+  9.300252914428711, 0.46923765540122986, 0.17232173681259155, -8.158949640346691e-06, -8.158981472661253e-06, 0.21378469467163086,
+  0.6033110618591309, -8.158963282767218e-06, -8.158968739735428e-06, -6.298762321472168, 5.224353790283203, -8.158956916304305e-06,
+  -8.158992386597674e-06, 0.4455934762954712, -0.11526817083358765]
+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