Upload policy_parameters.yaml to 2026-02-25_16-21-38_T0_running_ABL_CLF_GOAL_ADJ_DYNAMIC_HD_ALL_sym

running_clf_sym/2026-02-25_16-21-38_T0_running_ABL_CLF_GOAL_ADJ_DYNAMIC_HD_ALL_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: 0.5979999899864197
+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: [1.9404470920562744, -0.34398818016052246, 0.7655586004257202, 0.9913895130157471, 0.004105806350708008, 0.13110272586345673,
+  -0.00205162912607193, -0.062864288687706, -0.998846173286438, -0.1999872326850891, 0.028508318588137627, -0.09640274941921234,
+  0.17154507339000702, 0.8365383148193359, -0.10418762266635895, -0.001797463744878769, 0.30842602252960205, -0.32341834902763367,
+  1.475234031677246, 0.746517539024353, -0.09450305998325348, -0.23419305682182312, -0.09868483990430832, -0.11941277980804443,
+  -0.1012965589761734, 0.5268173217773438, 0.04779961705207825, 0.0947558805346489]
+valid_ic_vel: [3.654012441635132, -1.0141764879226685, -0.4657996594905853, -0.6002286672592163, -0.6541951894760132, -1.3901458978652954,
+  -2.5594654083251953, 5.353247165679932, 0.434667706489563, -0.8042280673980713, 0.6468541622161865, 5.539603233337402, -4.01565408706665,
+  -0.35476434230804443, -2.7658839225769043, -0.4501604437828064, -0.23629701137542725, 14.040628433227539, -7.127978324890137,
+  1.4317684173583984, 0.665735125541687, -1.2222250699996948, 7.529548168182373, 4.0640153884887695, -1.7844915390014648,
+  -1.2114790678024292, -2.8163654804229736]
+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