{
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    "termination_if_roll_greater_than": 100,
    "termination_if_pitch_greater_than": 100,
    "termination_if_height_lower_than": 0.0,
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    "command_type": "ang_vel_yaw",
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    "randomize_friction": false,
    "randomize_trajectory_heading": true,
    "friction_range": [
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    "added_mass_range": [
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    "num_history_obs": 3,
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      "gravity": 0.0,
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      "dof_vel": 1.0
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  "reward_cfg": {
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    "lin_vel_x_range": [
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    "runner": {
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      "experiment_name": "walk06",
      "load_run": -1,
      "log_interval": 1,
      "max_iterations": 5000,
      "record_interval": -1,
      "resume": false,
      "resume_path": null
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    "runner_class_name": "OnPolicyRunner",
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    "save_interval": 100,
    "empirical_normalization": null,
    "seed": 1,
    "logger": "wandb",
    "wandb_mode": "online",
    "project": "imitation_dataset_v3",
    "entity": "quadruped-rl",
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    "obs_groups": {
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      "critic": [
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    "motion_range": [
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  }
}