Upload g1_velocity/2026-04-26_20-11-37/env.yaml with huggingface_hub
Browse files
g1_velocity/2026-04-26_20-11-37/env.yaml
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|
| 1 |
+
decimation: 2
|
| 2 |
+
scene:
|
| 3 |
+
num_envs: 4096
|
| 4 |
+
env_spacing: 2.0
|
| 5 |
+
terrain:
|
| 6 |
+
init_state:
|
| 7 |
+
pos: !!python/tuple
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
rot: !!python/tuple
|
| 12 |
+
- 1.0
|
| 13 |
+
- 0.0
|
| 14 |
+
- 0.0
|
| 15 |
+
- 0.0
|
| 16 |
+
lin_vel: !!python/tuple
|
| 17 |
+
- 0.0
|
| 18 |
+
- 0.0
|
| 19 |
+
- 0.0
|
| 20 |
+
ang_vel: !!python/tuple
|
| 21 |
+
- 0.0
|
| 22 |
+
- 0.0
|
| 23 |
+
- 0.0
|
| 24 |
+
joint_pos:
|
| 25 |
+
.*: 0.0
|
| 26 |
+
joint_vel:
|
| 27 |
+
.*: 0.0
|
| 28 |
+
spec_fn: !!python/name:mjlab.entity.entity.%3Clambda%3E ''
|
| 29 |
+
articulation: null
|
| 30 |
+
sort_actuators: false
|
| 31 |
+
lights: !!python/tuple
|
| 32 |
+
- name: sun
|
| 33 |
+
body: world
|
| 34 |
+
mode: fixed
|
| 35 |
+
target: null
|
| 36 |
+
type: directional
|
| 37 |
+
castshadow: true
|
| 38 |
+
pos: !!python/tuple
|
| 39 |
+
- 0.0
|
| 40 |
+
- 0.0
|
| 41 |
+
- 1.5
|
| 42 |
+
dir: !!python/tuple
|
| 43 |
+
- 0.0
|
| 44 |
+
- 0.0
|
| 45 |
+
- -1.0
|
| 46 |
+
cutoff: 45.0
|
| 47 |
+
exponent: 10.0
|
| 48 |
+
cameras: !!python/tuple []
|
| 49 |
+
textures: !!python/tuple
|
| 50 |
+
- name: groundplane
|
| 51 |
+
type: 2d
|
| 52 |
+
builtin: checker
|
| 53 |
+
rgb1: !!python/tuple
|
| 54 |
+
- 0.2
|
| 55 |
+
- 0.3
|
| 56 |
+
- 0.4
|
| 57 |
+
rgb2: !!python/tuple
|
| 58 |
+
- 0.1
|
| 59 |
+
- 0.2
|
| 60 |
+
- 0.3
|
| 61 |
+
width: 300
|
| 62 |
+
height: 300
|
| 63 |
+
mark: edge
|
| 64 |
+
markrgb: !!python/tuple
|
| 65 |
+
- 0.8
|
| 66 |
+
- 0.8
|
| 67 |
+
- 0.8
|
| 68 |
+
materials: !!python/tuple
|
| 69 |
+
- name: groundplane
|
| 70 |
+
rgba: !!python/tuple
|
| 71 |
+
- 1.0
|
| 72 |
+
- 1.0
|
| 73 |
+
- 1.0
|
| 74 |
+
- 1.0
|
| 75 |
+
texuniform: true
|
| 76 |
+
texrepeat: !!python/tuple
|
| 77 |
+
- 4.0
|
| 78 |
+
- 4.0
|
| 79 |
+
reflectance: 0.2
|
| 80 |
+
texture: groundplane
|
| 81 |
+
geom_names_expr: !!python/tuple
|
| 82 |
+
- terrain$
|
| 83 |
+
collisions: !!python/tuple []
|
| 84 |
+
terrain_type: plane
|
| 85 |
+
terrain_generator: null
|
| 86 |
+
env_spacing: 2.0
|
| 87 |
+
max_init_terrain_level: 5
|
| 88 |
+
num_envs: 4096
|
| 89 |
+
entities:
|
| 90 |
+
robot:
|
| 91 |
+
init_state:
|
| 92 |
+
pos: !!python/tuple
|
| 93 |
+
- 0
|
| 94 |
+
- 0
|
| 95 |
+
- 0.76
|
| 96 |
+
rot: !!python/tuple
|
| 97 |
+
- 1.0
|
| 98 |
+
- 0.0
|
| 99 |
+
- 0.0
|
| 100 |
+
- 0.0
|
| 101 |
+
lin_vel: !!python/tuple
|
| 102 |
+
- 0.0
|
| 103 |
+
- 0.0
|
| 104 |
+
- 0.0
|
| 105 |
+
ang_vel: !!python/tuple
|
| 106 |
+
- 0.0
|
| 107 |
+
- 0.0
|
| 108 |
+
- 0.0
|
| 109 |
+
joint_pos:
|
| 110 |
+
.*_hip_pitch_joint: -0.312
|
| 111 |
+
.*_knee_joint: 0.669
|
| 112 |
+
.*_ankle_pitch_joint: -0.363
|
| 113 |
+
.*_elbow_joint: 0.6
|
| 114 |
+
left_shoulder_roll_joint: 0.2
|
| 115 |
+
left_shoulder_pitch_joint: 0.2
|
| 116 |
+
right_shoulder_roll_joint: -0.2
|
| 117 |
+
right_shoulder_pitch_joint: 0.2
|
| 118 |
+
joint_vel:
|
| 119 |
+
.*: 0.0
|
| 120 |
+
spec_fn: !!python/name:mjlab.asset_zoo.robots.unitree_g1.g1_constants.get_spec ''
|
| 121 |
+
articulation:
|
| 122 |
+
actuators: !!python/tuple
|
| 123 |
+
- target_names_expr: !!python/tuple
|
| 124 |
+
- .*_elbow_joint
|
| 125 |
+
- .*_shoulder_pitch_joint
|
| 126 |
+
- .*_shoulder_roll_joint
|
| 127 |
+
- .*_shoulder_yaw_joint
|
| 128 |
+
- .*_wrist_roll_joint
|
| 129 |
+
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
|
| 130 |
+
- joint
|
| 131 |
+
armature: 0.003609725
|
| 132 |
+
frictionloss: null
|
| 133 |
+
viscous_damping: null
|
| 134 |
+
delay_min_lag: 0
|
| 135 |
+
delay_max_lag: 0
|
| 136 |
+
delay_hold_prob: 0.0
|
| 137 |
+
delay_update_period: 0
|
| 138 |
+
delay_per_env_phase: true
|
| 139 |
+
stiffness: 14.25062309787429
|
| 140 |
+
damping: 0.907222843292423
|
| 141 |
+
effort_limit: 25.0
|
| 142 |
+
- target_names_expr: !!python/tuple
|
| 143 |
+
- .*_hip_pitch_joint
|
| 144 |
+
- .*_hip_yaw_joint
|
| 145 |
+
- waist_yaw_joint
|
| 146 |
+
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
|
| 147 |
+
- joint
|
| 148 |
+
armature: 0.01017752004132231
|
| 149 |
+
frictionloss: null
|
| 150 |
+
viscous_damping: null
|
| 151 |
+
delay_min_lag: 0
|
| 152 |
+
delay_max_lag: 0
|
| 153 |
+
delay_hold_prob: 0.0
|
| 154 |
+
delay_update_period: 0
|
| 155 |
+
delay_per_env_phase: true
|
| 156 |
+
stiffness: 40.17923863450712
|
| 157 |
+
damping: 2.557889775413375
|
| 158 |
+
effort_limit: 88.0
|
| 159 |
+
- target_names_expr: !!python/tuple
|
| 160 |
+
- .*_hip_roll_joint
|
| 161 |
+
- .*_knee_joint
|
| 162 |
+
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
|
| 163 |
+
- joint
|
| 164 |
+
armature: 0.025101924999999997
|
| 165 |
+
frictionloss: null
|
| 166 |
+
viscous_damping: null
|
| 167 |
+
delay_min_lag: 0
|
| 168 |
+
delay_max_lag: 0
|
| 169 |
+
delay_hold_prob: 0.0
|
| 170 |
+
delay_update_period: 0
|
| 171 |
+
delay_per_env_phase: true
|
| 172 |
+
stiffness: 99.09842777666111
|
| 173 |
+
damping: 6.308801853496639
|
| 174 |
+
effort_limit: 139.0
|
| 175 |
+
- target_names_expr: !!python/tuple
|
| 176 |
+
- .*_wrist_pitch_joint
|
| 177 |
+
- .*_wrist_yaw_joint
|
| 178 |
+
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
|
| 179 |
+
- joint
|
| 180 |
+
armature: 0.00425
|
| 181 |
+
frictionloss: null
|
| 182 |
+
viscous_damping: null
|
| 183 |
+
delay_min_lag: 0
|
| 184 |
+
delay_max_lag: 0
|
| 185 |
+
delay_hold_prob: 0.0
|
| 186 |
+
delay_update_period: 0
|
| 187 |
+
delay_per_env_phase: true
|
| 188 |
+
stiffness: 16.77832748089279
|
| 189 |
+
damping: 1.06814150219
|
| 190 |
+
effort_limit: 5.0
|
| 191 |
+
- target_names_expr: !!python/tuple
|
| 192 |
+
- waist_pitch_joint
|
| 193 |
+
- waist_roll_joint
|
| 194 |
+
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
|
| 195 |
+
- joint
|
| 196 |
+
armature: 0.00721945
|
| 197 |
+
frictionloss: null
|
| 198 |
+
viscous_damping: null
|
| 199 |
+
delay_min_lag: 0
|
| 200 |
+
delay_max_lag: 0
|
| 201 |
+
delay_hold_prob: 0.0
|
| 202 |
+
delay_update_period: 0
|
| 203 |
+
delay_per_env_phase: true
|
| 204 |
+
stiffness: 28.50124619574858
|
| 205 |
+
damping: 1.814445686584846
|
| 206 |
+
effort_limit: 50.0
|
| 207 |
+
- target_names_expr: !!python/tuple
|
| 208 |
+
- .*_ankle_pitch_joint
|
| 209 |
+
- .*_ankle_roll_joint
|
| 210 |
+
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
|
| 211 |
+
- joint
|
| 212 |
+
armature: 0.00721945
|
| 213 |
+
frictionloss: null
|
| 214 |
+
viscous_damping: null
|
| 215 |
+
delay_min_lag: 0
|
| 216 |
+
delay_max_lag: 0
|
| 217 |
+
delay_hold_prob: 0.0
|
| 218 |
+
delay_update_period: 0
|
| 219 |
+
delay_per_env_phase: true
|
| 220 |
+
stiffness: 28.50124619574858
|
| 221 |
+
damping: 1.814445686584846
|
| 222 |
+
effort_limit: 50.0
|
| 223 |
+
soft_joint_pos_limit_factor: 0.9
|
| 224 |
+
sort_actuators: false
|
| 225 |
+
lights: !!python/tuple []
|
| 226 |
+
cameras: !!python/tuple []
|
| 227 |
+
textures: !!python/tuple []
|
| 228 |
+
materials: !!python/tuple []
|
| 229 |
+
collisions: !!python/tuple
|
| 230 |
+
- geom_names_expr: !!python/tuple
|
| 231 |
+
- .*_collision
|
| 232 |
+
contype: 1
|
| 233 |
+
conaffinity: 1
|
| 234 |
+
condim:
|
| 235 |
+
^(left|right)_foot[1-7]_collision$: 3
|
| 236 |
+
.*_collision: 1
|
| 237 |
+
priority:
|
| 238 |
+
^(left|right)_foot[1-7]_collision$: 1
|
| 239 |
+
friction:
|
| 240 |
+
^(left|right)_foot[1-7]_collision$: !!python/tuple
|
| 241 |
+
- 0.6
|
| 242 |
+
solref: null
|
| 243 |
+
solimp: null
|
| 244 |
+
margin: null
|
| 245 |
+
gap: null
|
| 246 |
+
solmix: null
|
| 247 |
+
disable_other_geoms: true
|
| 248 |
+
sensors: !!python/tuple
|
| 249 |
+
- name: foot_height_scan
|
| 250 |
+
frame: !!python/tuple
|
| 251 |
+
- type: site
|
| 252 |
+
name: left_foot
|
| 253 |
+
entity: robot
|
| 254 |
+
- type: site
|
| 255 |
+
name: right_foot
|
| 256 |
+
entity: robot
|
| 257 |
+
pattern:
|
| 258 |
+
rings: !!python/tuple
|
| 259 |
+
- radius: 0.03
|
| 260 |
+
num_samples: 6
|
| 261 |
+
include_center: true
|
| 262 |
+
direction: !!python/tuple
|
| 263 |
+
- 0.0
|
| 264 |
+
- 0.0
|
| 265 |
+
- -1.0
|
| 266 |
+
ray_alignment: yaw
|
| 267 |
+
max_distance: 1.0
|
| 268 |
+
exclude_parent_body: true
|
| 269 |
+
include_geom_groups: !!python/tuple
|
| 270 |
+
- 0
|
| 271 |
+
debug_vis: true
|
| 272 |
+
viz:
|
| 273 |
+
hit_color: !!python/tuple
|
| 274 |
+
- 1.0
|
| 275 |
+
- 0.0
|
| 276 |
+
- 1.0
|
| 277 |
+
- 0.8
|
| 278 |
+
miss_color: !!python/tuple
|
| 279 |
+
- 1.0
|
| 280 |
+
- 0.0
|
| 281 |
+
- 0.0
|
| 282 |
+
- 0.4
|
| 283 |
+
hit_sphere_color: !!python/tuple
|
| 284 |
+
- 1.0
|
| 285 |
+
- 0.0
|
| 286 |
+
- 1.0
|
| 287 |
+
- 1.0
|
| 288 |
+
hit_sphere_radius: 0.5
|
| 289 |
+
show_rays: true
|
| 290 |
+
show_normals: false
|
| 291 |
+
normal_color: !!python/tuple
|
| 292 |
+
- 1.0
|
| 293 |
+
- 1.0
|
| 294 |
+
- 0.0
|
| 295 |
+
- 1.0
|
| 296 |
+
normal_length: 5.0
|
| 297 |
+
reduction: min
|
| 298 |
+
- name: feet_ground_contact
|
| 299 |
+
primary:
|
| 300 |
+
mode: subtree
|
| 301 |
+
pattern: ^(left_ankle_roll_link|right_ankle_roll_link)$
|
| 302 |
+
entity: robot
|
| 303 |
+
exclude: !!python/tuple []
|
| 304 |
+
secondary:
|
| 305 |
+
mode: body
|
| 306 |
+
pattern: terrain
|
| 307 |
+
entity: null
|
| 308 |
+
exclude: !!python/tuple []
|
| 309 |
+
fields: !!python/tuple
|
| 310 |
+
- found
|
| 311 |
+
- force
|
| 312 |
+
reduce: netforce
|
| 313 |
+
num_slots: 1
|
| 314 |
+
secondary_policy: first
|
| 315 |
+
track_air_time: true
|
| 316 |
+
global_frame: false
|
| 317 |
+
history_length: 0
|
| 318 |
+
debug: false
|
| 319 |
+
- name: self_collision
|
| 320 |
+
primary:
|
| 321 |
+
mode: subtree
|
| 322 |
+
pattern: pelvis
|
| 323 |
+
entity: robot
|
| 324 |
+
exclude: !!python/tuple []
|
| 325 |
+
secondary:
|
| 326 |
+
mode: subtree
|
| 327 |
+
pattern: pelvis
|
| 328 |
+
entity: robot
|
| 329 |
+
exclude: !!python/tuple []
|
| 330 |
+
fields: !!python/tuple
|
| 331 |
+
- found
|
| 332 |
+
- force
|
| 333 |
+
reduce: none
|
| 334 |
+
num_slots: 1
|
| 335 |
+
secondary_policy: first
|
| 336 |
+
track_air_time: false
|
| 337 |
+
global_frame: false
|
| 338 |
+
history_length: 4
|
| 339 |
+
debug: false
|
| 340 |
+
extent: 2.0
|
| 341 |
+
spec_fn: null
|
| 342 |
+
observations:
|
| 343 |
+
actor:
|
| 344 |
+
terms:
|
| 345 |
+
base_lin_vel:
|
| 346 |
+
func: &id001 !!python/name:mjlab.envs.mdp.observations.builtin_sensor ''
|
| 347 |
+
params:
|
| 348 |
+
sensor_name: robot/imu_lin_vel
|
| 349 |
+
noise:
|
| 350 |
+
operation: add
|
| 351 |
+
_tensor_cache: {}
|
| 352 |
+
n_min: -0.5
|
| 353 |
+
n_max: 0.5
|
| 354 |
+
clip: null
|
| 355 |
+
scale: null
|
| 356 |
+
delay_min_lag: 0
|
| 357 |
+
delay_max_lag: 0
|
| 358 |
+
delay_per_env: true
|
| 359 |
+
delay_hold_prob: 0.0
|
| 360 |
+
delay_update_period: 0
|
| 361 |
+
delay_per_env_phase: true
|
| 362 |
+
history_length: 0
|
| 363 |
+
flatten_history_dim: true
|
| 364 |
+
base_ang_vel:
|
| 365 |
+
func: *id001
|
| 366 |
+
params:
|
| 367 |
+
sensor_name: robot/imu_ang_vel
|
| 368 |
+
noise:
|
| 369 |
+
operation: add
|
| 370 |
+
_tensor_cache: {}
|
| 371 |
+
n_min: -0.2
|
| 372 |
+
n_max: 0.2
|
| 373 |
+
clip: null
|
| 374 |
+
scale: null
|
| 375 |
+
delay_min_lag: 0
|
| 376 |
+
delay_max_lag: 0
|
| 377 |
+
delay_per_env: true
|
| 378 |
+
delay_hold_prob: 0.0
|
| 379 |
+
delay_update_period: 0
|
| 380 |
+
delay_per_env_phase: true
|
| 381 |
+
history_length: 0
|
| 382 |
+
flatten_history_dim: true
|
| 383 |
+
projected_gravity:
|
| 384 |
+
func: &id002 !!python/name:mjlab.envs.mdp.observations.projected_gravity ''
|
| 385 |
+
params: {}
|
| 386 |
+
noise:
|
| 387 |
+
operation: add
|
| 388 |
+
_tensor_cache: {}
|
| 389 |
+
n_min: -0.05
|
| 390 |
+
n_max: 0.05
|
| 391 |
+
clip: null
|
| 392 |
+
scale: null
|
| 393 |
+
delay_min_lag: 0
|
| 394 |
+
delay_max_lag: 0
|
| 395 |
+
delay_per_env: true
|
| 396 |
+
delay_hold_prob: 0.0
|
| 397 |
+
delay_update_period: 0
|
| 398 |
+
delay_per_env_phase: true
|
| 399 |
+
history_length: 0
|
| 400 |
+
flatten_history_dim: true
|
| 401 |
+
joint_pos:
|
| 402 |
+
func: &id003 !!python/name:mjlab.envs.mdp.observations.joint_pos_rel ''
|
| 403 |
+
params: {}
|
| 404 |
+
noise:
|
| 405 |
+
operation: add
|
| 406 |
+
_tensor_cache: {}
|
| 407 |
+
n_min: -0.01
|
| 408 |
+
n_max: 0.01
|
| 409 |
+
clip: null
|
| 410 |
+
scale: null
|
| 411 |
+
delay_min_lag: 0
|
| 412 |
+
delay_max_lag: 0
|
| 413 |
+
delay_per_env: true
|
| 414 |
+
delay_hold_prob: 0.0
|
| 415 |
+
delay_update_period: 0
|
| 416 |
+
delay_per_env_phase: true
|
| 417 |
+
history_length: 0
|
| 418 |
+
flatten_history_dim: true
|
| 419 |
+
joint_vel:
|
| 420 |
+
func: &id004 !!python/name:mjlab.envs.mdp.observations.joint_vel_rel ''
|
| 421 |
+
params: {}
|
| 422 |
+
noise:
|
| 423 |
+
operation: add
|
| 424 |
+
_tensor_cache: {}
|
| 425 |
+
n_min: -1.5
|
| 426 |
+
n_max: 1.5
|
| 427 |
+
clip: null
|
| 428 |
+
scale: null
|
| 429 |
+
delay_min_lag: 0
|
| 430 |
+
delay_max_lag: 0
|
| 431 |
+
delay_per_env: true
|
| 432 |
+
delay_hold_prob: 0.0
|
| 433 |
+
delay_update_period: 0
|
| 434 |
+
delay_per_env_phase: true
|
| 435 |
+
history_length: 0
|
| 436 |
+
flatten_history_dim: true
|
| 437 |
+
actions:
|
| 438 |
+
func: &id005 !!python/name:mjlab.envs.mdp.observations.last_action ''
|
| 439 |
+
params: {}
|
| 440 |
+
noise: null
|
| 441 |
+
clip: null
|
| 442 |
+
scale: null
|
| 443 |
+
delay_min_lag: 0
|
| 444 |
+
delay_max_lag: 0
|
| 445 |
+
delay_per_env: true
|
| 446 |
+
delay_hold_prob: 0.0
|
| 447 |
+
delay_update_period: 0
|
| 448 |
+
delay_per_env_phase: true
|
| 449 |
+
history_length: 0
|
| 450 |
+
flatten_history_dim: true
|
| 451 |
+
command:
|
| 452 |
+
func: &id006 !!python/name:mjlab.envs.mdp.observations.generated_commands ''
|
| 453 |
+
params:
|
| 454 |
+
command_name: twist
|
| 455 |
+
noise: null
|
| 456 |
+
clip: null
|
| 457 |
+
scale: null
|
| 458 |
+
delay_min_lag: 0
|
| 459 |
+
delay_max_lag: 0
|
| 460 |
+
delay_per_env: true
|
| 461 |
+
delay_hold_prob: 0.0
|
| 462 |
+
delay_update_period: 0
|
| 463 |
+
delay_per_env_phase: true
|
| 464 |
+
history_length: 0
|
| 465 |
+
flatten_history_dim: true
|
| 466 |
+
concatenate_terms: true
|
| 467 |
+
concatenate_dim: -1
|
| 468 |
+
enable_corruption: true
|
| 469 |
+
history_length: null
|
| 470 |
+
flatten_history_dim: true
|
| 471 |
+
nan_policy: disabled
|
| 472 |
+
nan_check_per_term: true
|
| 473 |
+
critic:
|
| 474 |
+
terms:
|
| 475 |
+
base_lin_vel:
|
| 476 |
+
func: *id001
|
| 477 |
+
params:
|
| 478 |
+
sensor_name: robot/imu_lin_vel
|
| 479 |
+
noise:
|
| 480 |
+
operation: add
|
| 481 |
+
_tensor_cache: {}
|
| 482 |
+
n_min: -0.5
|
| 483 |
+
n_max: 0.5
|
| 484 |
+
clip: null
|
| 485 |
+
scale: null
|
| 486 |
+
delay_min_lag: 0
|
| 487 |
+
delay_max_lag: 0
|
| 488 |
+
delay_per_env: true
|
| 489 |
+
delay_hold_prob: 0.0
|
| 490 |
+
delay_update_period: 0
|
| 491 |
+
delay_per_env_phase: true
|
| 492 |
+
history_length: 0
|
| 493 |
+
flatten_history_dim: true
|
| 494 |
+
base_ang_vel:
|
| 495 |
+
func: *id001
|
| 496 |
+
params:
|
| 497 |
+
sensor_name: robot/imu_ang_vel
|
| 498 |
+
noise:
|
| 499 |
+
operation: add
|
| 500 |
+
_tensor_cache: {}
|
| 501 |
+
n_min: -0.2
|
| 502 |
+
n_max: 0.2
|
| 503 |
+
clip: null
|
| 504 |
+
scale: null
|
| 505 |
+
delay_min_lag: 0
|
| 506 |
+
delay_max_lag: 0
|
| 507 |
+
delay_per_env: true
|
| 508 |
+
delay_hold_prob: 0.0
|
| 509 |
+
delay_update_period: 0
|
| 510 |
+
delay_per_env_phase: true
|
| 511 |
+
history_length: 0
|
| 512 |
+
flatten_history_dim: true
|
| 513 |
+
projected_gravity:
|
| 514 |
+
func: *id002
|
| 515 |
+
params: {}
|
| 516 |
+
noise:
|
| 517 |
+
operation: add
|
| 518 |
+
_tensor_cache: {}
|
| 519 |
+
n_min: -0.05
|
| 520 |
+
n_max: 0.05
|
| 521 |
+
clip: null
|
| 522 |
+
scale: null
|
| 523 |
+
delay_min_lag: 0
|
| 524 |
+
delay_max_lag: 0
|
| 525 |
+
delay_per_env: true
|
| 526 |
+
delay_hold_prob: 0.0
|
| 527 |
+
delay_update_period: 0
|
| 528 |
+
delay_per_env_phase: true
|
| 529 |
+
history_length: 0
|
| 530 |
+
flatten_history_dim: true
|
| 531 |
+
joint_pos:
|
| 532 |
+
func: *id003
|
| 533 |
+
params: {}
|
| 534 |
+
noise:
|
| 535 |
+
operation: add
|
| 536 |
+
_tensor_cache: {}
|
| 537 |
+
n_min: -0.01
|
| 538 |
+
n_max: 0.01
|
| 539 |
+
clip: null
|
| 540 |
+
scale: null
|
| 541 |
+
delay_min_lag: 0
|
| 542 |
+
delay_max_lag: 0
|
| 543 |
+
delay_per_env: true
|
| 544 |
+
delay_hold_prob: 0.0
|
| 545 |
+
delay_update_period: 0
|
| 546 |
+
delay_per_env_phase: true
|
| 547 |
+
history_length: 0
|
| 548 |
+
flatten_history_dim: true
|
| 549 |
+
joint_vel:
|
| 550 |
+
func: *id004
|
| 551 |
+
params: {}
|
| 552 |
+
noise:
|
| 553 |
+
operation: add
|
| 554 |
+
_tensor_cache: {}
|
| 555 |
+
n_min: -1.5
|
| 556 |
+
n_max: 1.5
|
| 557 |
+
clip: null
|
| 558 |
+
scale: null
|
| 559 |
+
delay_min_lag: 0
|
| 560 |
+
delay_max_lag: 0
|
| 561 |
+
delay_per_env: true
|
| 562 |
+
delay_hold_prob: 0.0
|
| 563 |
+
delay_update_period: 0
|
| 564 |
+
delay_per_env_phase: true
|
| 565 |
+
history_length: 0
|
| 566 |
+
flatten_history_dim: true
|
| 567 |
+
actions:
|
| 568 |
+
func: *id005
|
| 569 |
+
params: {}
|
| 570 |
+
noise: null
|
| 571 |
+
clip: null
|
| 572 |
+
scale: null
|
| 573 |
+
delay_min_lag: 0
|
| 574 |
+
delay_max_lag: 0
|
| 575 |
+
delay_per_env: true
|
| 576 |
+
delay_hold_prob: 0.0
|
| 577 |
+
delay_update_period: 0
|
| 578 |
+
delay_per_env_phase: true
|
| 579 |
+
history_length: 0
|
| 580 |
+
flatten_history_dim: true
|
| 581 |
+
command:
|
| 582 |
+
func: *id006
|
| 583 |
+
params:
|
| 584 |
+
command_name: twist
|
| 585 |
+
noise: null
|
| 586 |
+
clip: null
|
| 587 |
+
scale: null
|
| 588 |
+
delay_min_lag: 0
|
| 589 |
+
delay_max_lag: 0
|
| 590 |
+
delay_per_env: true
|
| 591 |
+
delay_hold_prob: 0.0
|
| 592 |
+
delay_update_period: 0
|
| 593 |
+
delay_per_env_phase: true
|
| 594 |
+
history_length: 0
|
| 595 |
+
flatten_history_dim: true
|
| 596 |
+
foot_height:
|
| 597 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_height ''
|
| 598 |
+
params:
|
| 599 |
+
sensor_name: foot_height_scan
|
| 600 |
+
noise: null
|
| 601 |
+
clip: null
|
| 602 |
+
scale: null
|
| 603 |
+
delay_min_lag: 0
|
| 604 |
+
delay_max_lag: 0
|
| 605 |
+
delay_per_env: true
|
| 606 |
+
delay_hold_prob: 0.0
|
| 607 |
+
delay_update_period: 0
|
| 608 |
+
delay_per_env_phase: true
|
| 609 |
+
history_length: 0
|
| 610 |
+
flatten_history_dim: true
|
| 611 |
+
foot_air_time:
|
| 612 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_air_time ''
|
| 613 |
+
params:
|
| 614 |
+
sensor_name: feet_ground_contact
|
| 615 |
+
noise: null
|
| 616 |
+
clip: null
|
| 617 |
+
scale: null
|
| 618 |
+
delay_min_lag: 0
|
| 619 |
+
delay_max_lag: 0
|
| 620 |
+
delay_per_env: true
|
| 621 |
+
delay_hold_prob: 0.0
|
| 622 |
+
delay_update_period: 0
|
| 623 |
+
delay_per_env_phase: true
|
| 624 |
+
history_length: 0
|
| 625 |
+
flatten_history_dim: true
|
| 626 |
+
foot_contact:
|
| 627 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_contact ''
|
| 628 |
+
params:
|
| 629 |
+
sensor_name: feet_ground_contact
|
| 630 |
+
noise: null
|
| 631 |
+
clip: null
|
| 632 |
+
scale: null
|
| 633 |
+
delay_min_lag: 0
|
| 634 |
+
delay_max_lag: 0
|
| 635 |
+
delay_per_env: true
|
| 636 |
+
delay_hold_prob: 0.0
|
| 637 |
+
delay_update_period: 0
|
| 638 |
+
delay_per_env_phase: true
|
| 639 |
+
history_length: 0
|
| 640 |
+
flatten_history_dim: true
|
| 641 |
+
foot_contact_forces:
|
| 642 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_contact_forces ''
|
| 643 |
+
params:
|
| 644 |
+
sensor_name: feet_ground_contact
|
| 645 |
+
noise: null
|
| 646 |
+
clip: null
|
| 647 |
+
scale: null
|
| 648 |
+
delay_min_lag: 0
|
| 649 |
+
delay_max_lag: 0
|
| 650 |
+
delay_per_env: true
|
| 651 |
+
delay_hold_prob: 0.0
|
| 652 |
+
delay_update_period: 0
|
| 653 |
+
delay_per_env_phase: true
|
| 654 |
+
history_length: 0
|
| 655 |
+
flatten_history_dim: true
|
| 656 |
+
concatenate_terms: true
|
| 657 |
+
concatenate_dim: -1
|
| 658 |
+
enable_corruption: false
|
| 659 |
+
history_length: null
|
| 660 |
+
flatten_history_dim: true
|
| 661 |
+
nan_policy: disabled
|
| 662 |
+
nan_check_per_term: true
|
| 663 |
+
actions:
|
| 664 |
+
joint_pos:
|
| 665 |
+
entity_name: robot
|
| 666 |
+
clip: null
|
| 667 |
+
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
|
| 668 |
+
- joint
|
| 669 |
+
actuator_names: !!python/tuple
|
| 670 |
+
- .*
|
| 671 |
+
scale:
|
| 672 |
+
.*_elbow_joint: 0.43857731392336724
|
| 673 |
+
.*_shoulder_pitch_joint: 0.43857731392336724
|
| 674 |
+
.*_shoulder_roll_joint: 0.43857731392336724
|
| 675 |
+
.*_shoulder_yaw_joint: 0.43857731392336724
|
| 676 |
+
.*_wrist_roll_joint: 0.43857731392336724
|
| 677 |
+
.*_hip_pitch_joint: 0.5475464629911068
|
| 678 |
+
.*_hip_yaw_joint: 0.5475464629911068
|
| 679 |
+
waist_yaw_joint: 0.5475464629911068
|
| 680 |
+
.*_hip_roll_joint: 0.35066146637882434
|
| 681 |
+
.*_knee_joint: 0.35066146637882434
|
| 682 |
+
.*_wrist_pitch_joint: 0.07450087032950714
|
| 683 |
+
.*_wrist_yaw_joint: 0.07450087032950714
|
| 684 |
+
waist_pitch_joint: 0.43857731392336724
|
| 685 |
+
waist_roll_joint: 0.43857731392336724
|
| 686 |
+
.*_ankle_pitch_joint: 0.43857731392336724
|
| 687 |
+
.*_ankle_roll_joint: 0.43857731392336724
|
| 688 |
+
offset: 0.0
|
| 689 |
+
preserve_order: false
|
| 690 |
+
use_default_offset: true
|
| 691 |
+
events:
|
| 692 |
+
reset_base:
|
| 693 |
+
func: !!python/name:mjlab.envs.mdp.events.reset_root_state_uniform ''
|
| 694 |
+
params:
|
| 695 |
+
pose_range:
|
| 696 |
+
x: !!python/tuple
|
| 697 |
+
- -0.5
|
| 698 |
+
- 0.5
|
| 699 |
+
y: !!python/tuple
|
| 700 |
+
- -0.5
|
| 701 |
+
- 0.5
|
| 702 |
+
z: !!python/tuple
|
| 703 |
+
- 0.01
|
| 704 |
+
- 0.05
|
| 705 |
+
yaw: !!python/tuple
|
| 706 |
+
- -3.14
|
| 707 |
+
- 3.14
|
| 708 |
+
velocity_range: {}
|
| 709 |
+
mode: reset
|
| 710 |
+
interval_range_s: null
|
| 711 |
+
is_global_time: false
|
| 712 |
+
min_step_count_between_reset: 0
|
| 713 |
+
reset_robot_joints:
|
| 714 |
+
func: !!python/name:mjlab.envs.mdp.events.reset_joints_by_offset ''
|
| 715 |
+
params:
|
| 716 |
+
position_range: !!python/tuple
|
| 717 |
+
- 0.0
|
| 718 |
+
- 0.0
|
| 719 |
+
velocity_range: !!python/tuple
|
| 720 |
+
- 0.0
|
| 721 |
+
- 0.0
|
| 722 |
+
asset_cfg:
|
| 723 |
+
name: robot
|
| 724 |
+
joint_names: !!python/tuple
|
| 725 |
+
- .*
|
| 726 |
+
joint_ids: !!python/object/apply:builtins.slice
|
| 727 |
+
- null
|
| 728 |
+
- null
|
| 729 |
+
- null
|
| 730 |
+
body_names: null
|
| 731 |
+
body_ids: !!python/object/apply:builtins.slice
|
| 732 |
+
- null
|
| 733 |
+
- null
|
| 734 |
+
- null
|
| 735 |
+
geom_names: null
|
| 736 |
+
geom_ids: !!python/object/apply:builtins.slice
|
| 737 |
+
- null
|
| 738 |
+
- null
|
| 739 |
+
- null
|
| 740 |
+
site_names: null
|
| 741 |
+
site_ids: !!python/object/apply:builtins.slice
|
| 742 |
+
- null
|
| 743 |
+
- null
|
| 744 |
+
- null
|
| 745 |
+
actuator_names: null
|
| 746 |
+
actuator_ids: !!python/object/apply:builtins.slice
|
| 747 |
+
- null
|
| 748 |
+
- null
|
| 749 |
+
- null
|
| 750 |
+
tendon_names: null
|
| 751 |
+
tendon_ids: !!python/object/apply:builtins.slice
|
| 752 |
+
- null
|
| 753 |
+
- null
|
| 754 |
+
- null
|
| 755 |
+
camera_names: null
|
| 756 |
+
camera_ids: !!python/object/apply:builtins.slice
|
| 757 |
+
- null
|
| 758 |
+
- null
|
| 759 |
+
- null
|
| 760 |
+
light_names: null
|
| 761 |
+
light_ids: !!python/object/apply:builtins.slice
|
| 762 |
+
- null
|
| 763 |
+
- null
|
| 764 |
+
- null
|
| 765 |
+
material_names: null
|
| 766 |
+
material_ids: !!python/object/apply:builtins.slice
|
| 767 |
+
- null
|
| 768 |
+
- null
|
| 769 |
+
- null
|
| 770 |
+
pair_names: null
|
| 771 |
+
pair_ids: !!python/object/apply:builtins.slice
|
| 772 |
+
- null
|
| 773 |
+
- null
|
| 774 |
+
- null
|
| 775 |
+
preserve_order: false
|
| 776 |
+
mode: reset
|
| 777 |
+
interval_range_s: null
|
| 778 |
+
is_global_time: false
|
| 779 |
+
min_step_count_between_reset: 0
|
| 780 |
+
push_robot:
|
| 781 |
+
func: !!python/name:mjlab.envs.mdp.events.push_by_setting_velocity ''
|
| 782 |
+
params:
|
| 783 |
+
velocity_range:
|
| 784 |
+
x: !!python/tuple
|
| 785 |
+
- -0.5
|
| 786 |
+
- 0.5
|
| 787 |
+
y: !!python/tuple
|
| 788 |
+
- -0.5
|
| 789 |
+
- 0.5
|
| 790 |
+
z: !!python/tuple
|
| 791 |
+
- -0.4
|
| 792 |
+
- 0.4
|
| 793 |
+
roll: !!python/tuple
|
| 794 |
+
- -0.52
|
| 795 |
+
- 0.52
|
| 796 |
+
pitch: !!python/tuple
|
| 797 |
+
- -0.52
|
| 798 |
+
- 0.52
|
| 799 |
+
yaw: !!python/tuple
|
| 800 |
+
- -0.78
|
| 801 |
+
- 0.78
|
| 802 |
+
mode: interval
|
| 803 |
+
interval_range_s: !!python/tuple
|
| 804 |
+
- 1.0
|
| 805 |
+
- 3.0
|
| 806 |
+
is_global_time: false
|
| 807 |
+
min_step_count_between_reset: 0
|
| 808 |
+
foot_friction:
|
| 809 |
+
func: !!python/name:mjlab.envs.mdp.dr.geom.geom_friction ''
|
| 810 |
+
params:
|
| 811 |
+
asset_cfg:
|
| 812 |
+
name: robot
|
| 813 |
+
joint_names: null
|
| 814 |
+
joint_ids: !!python/object/apply:builtins.slice
|
| 815 |
+
- null
|
| 816 |
+
- null
|
| 817 |
+
- null
|
| 818 |
+
body_names: null
|
| 819 |
+
body_ids: !!python/object/apply:builtins.slice
|
| 820 |
+
- null
|
| 821 |
+
- null
|
| 822 |
+
- null
|
| 823 |
+
geom_names: !!python/tuple
|
| 824 |
+
- left_foot1_collision
|
| 825 |
+
- left_foot2_collision
|
| 826 |
+
- left_foot3_collision
|
| 827 |
+
- left_foot4_collision
|
| 828 |
+
- left_foot5_collision
|
| 829 |
+
- left_foot6_collision
|
| 830 |
+
- left_foot7_collision
|
| 831 |
+
- right_foot1_collision
|
| 832 |
+
- right_foot2_collision
|
| 833 |
+
- right_foot3_collision
|
| 834 |
+
- right_foot4_collision
|
| 835 |
+
- right_foot5_collision
|
| 836 |
+
- right_foot6_collision
|
| 837 |
+
- right_foot7_collision
|
| 838 |
+
geom_ids: !!python/object/apply:builtins.slice
|
| 839 |
+
- null
|
| 840 |
+
- null
|
| 841 |
+
- null
|
| 842 |
+
site_names: null
|
| 843 |
+
site_ids: !!python/object/apply:builtins.slice
|
| 844 |
+
- null
|
| 845 |
+
- null
|
| 846 |
+
- null
|
| 847 |
+
actuator_names: null
|
| 848 |
+
actuator_ids: !!python/object/apply:builtins.slice
|
| 849 |
+
- null
|
| 850 |
+
- null
|
| 851 |
+
- null
|
| 852 |
+
tendon_names: null
|
| 853 |
+
tendon_ids: !!python/object/apply:builtins.slice
|
| 854 |
+
- null
|
| 855 |
+
- null
|
| 856 |
+
- null
|
| 857 |
+
camera_names: null
|
| 858 |
+
camera_ids: !!python/object/apply:builtins.slice
|
| 859 |
+
- null
|
| 860 |
+
- null
|
| 861 |
+
- null
|
| 862 |
+
light_names: null
|
| 863 |
+
light_ids: !!python/object/apply:builtins.slice
|
| 864 |
+
- null
|
| 865 |
+
- null
|
| 866 |
+
- null
|
| 867 |
+
material_names: null
|
| 868 |
+
material_ids: !!python/object/apply:builtins.slice
|
| 869 |
+
- null
|
| 870 |
+
- null
|
| 871 |
+
- null
|
| 872 |
+
pair_names: null
|
| 873 |
+
pair_ids: !!python/object/apply:builtins.slice
|
| 874 |
+
- null
|
| 875 |
+
- null
|
| 876 |
+
- null
|
| 877 |
+
preserve_order: false
|
| 878 |
+
operation: abs
|
| 879 |
+
ranges: !!python/tuple
|
| 880 |
+
- 0.3
|
| 881 |
+
- 1.2
|
| 882 |
+
shared_random: true
|
| 883 |
+
mode: startup
|
| 884 |
+
interval_range_s: null
|
| 885 |
+
is_global_time: false
|
| 886 |
+
min_step_count_between_reset: 0
|
| 887 |
+
encoder_bias:
|
| 888 |
+
func: !!python/name:mjlab.envs.mdp.dr.joint.encoder_bias ''
|
| 889 |
+
params:
|
| 890 |
+
asset_cfg:
|
| 891 |
+
name: robot
|
| 892 |
+
joint_names: null
|
| 893 |
+
joint_ids: !!python/object/apply:builtins.slice
|
| 894 |
+
- null
|
| 895 |
+
- null
|
| 896 |
+
- null
|
| 897 |
+
body_names: null
|
| 898 |
+
body_ids: !!python/object/apply:builtins.slice
|
| 899 |
+
- null
|
| 900 |
+
- null
|
| 901 |
+
- null
|
| 902 |
+
geom_names: null
|
| 903 |
+
geom_ids: !!python/object/apply:builtins.slice
|
| 904 |
+
- null
|
| 905 |
+
- null
|
| 906 |
+
- null
|
| 907 |
+
site_names: null
|
| 908 |
+
site_ids: !!python/object/apply:builtins.slice
|
| 909 |
+
- null
|
| 910 |
+
- null
|
| 911 |
+
- null
|
| 912 |
+
actuator_names: null
|
| 913 |
+
actuator_ids: !!python/object/apply:builtins.slice
|
| 914 |
+
- null
|
| 915 |
+
- null
|
| 916 |
+
- null
|
| 917 |
+
tendon_names: null
|
| 918 |
+
tendon_ids: !!python/object/apply:builtins.slice
|
| 919 |
+
- null
|
| 920 |
+
- null
|
| 921 |
+
- null
|
| 922 |
+
camera_names: null
|
| 923 |
+
camera_ids: !!python/object/apply:builtins.slice
|
| 924 |
+
- null
|
| 925 |
+
- null
|
| 926 |
+
- null
|
| 927 |
+
light_names: null
|
| 928 |
+
light_ids: !!python/object/apply:builtins.slice
|
| 929 |
+
- null
|
| 930 |
+
- null
|
| 931 |
+
- null
|
| 932 |
+
material_names: null
|
| 933 |
+
material_ids: !!python/object/apply:builtins.slice
|
| 934 |
+
- null
|
| 935 |
+
- null
|
| 936 |
+
- null
|
| 937 |
+
pair_names: null
|
| 938 |
+
pair_ids: !!python/object/apply:builtins.slice
|
| 939 |
+
- null
|
| 940 |
+
- null
|
| 941 |
+
- null
|
| 942 |
+
preserve_order: false
|
| 943 |
+
bias_range: !!python/tuple
|
| 944 |
+
- -0.015
|
| 945 |
+
- 0.015
|
| 946 |
+
mode: startup
|
| 947 |
+
interval_range_s: null
|
| 948 |
+
is_global_time: false
|
| 949 |
+
min_step_count_between_reset: 0
|
| 950 |
+
base_com:
|
| 951 |
+
func: !!python/name:mjlab.envs.mdp.dr.body.body_com_offset ''
|
| 952 |
+
params:
|
| 953 |
+
asset_cfg:
|
| 954 |
+
name: robot
|
| 955 |
+
joint_names: null
|
| 956 |
+
joint_ids: !!python/object/apply:builtins.slice
|
| 957 |
+
- null
|
| 958 |
+
- null
|
| 959 |
+
- null
|
| 960 |
+
body_names: !!python/tuple
|
| 961 |
+
- torso_link
|
| 962 |
+
body_ids: !!python/object/apply:builtins.slice
|
| 963 |
+
- null
|
| 964 |
+
- null
|
| 965 |
+
- null
|
| 966 |
+
geom_names: null
|
| 967 |
+
geom_ids: !!python/object/apply:builtins.slice
|
| 968 |
+
- null
|
| 969 |
+
- null
|
| 970 |
+
- null
|
| 971 |
+
site_names: null
|
| 972 |
+
site_ids: !!python/object/apply:builtins.slice
|
| 973 |
+
- null
|
| 974 |
+
- null
|
| 975 |
+
- null
|
| 976 |
+
actuator_names: null
|
| 977 |
+
actuator_ids: !!python/object/apply:builtins.slice
|
| 978 |
+
- null
|
| 979 |
+
- null
|
| 980 |
+
- null
|
| 981 |
+
tendon_names: null
|
| 982 |
+
tendon_ids: !!python/object/apply:builtins.slice
|
| 983 |
+
- null
|
| 984 |
+
- null
|
| 985 |
+
- null
|
| 986 |
+
camera_names: null
|
| 987 |
+
camera_ids: !!python/object/apply:builtins.slice
|
| 988 |
+
- null
|
| 989 |
+
- null
|
| 990 |
+
- null
|
| 991 |
+
light_names: null
|
| 992 |
+
light_ids: !!python/object/apply:builtins.slice
|
| 993 |
+
- null
|
| 994 |
+
- null
|
| 995 |
+
- null
|
| 996 |
+
material_names: null
|
| 997 |
+
material_ids: !!python/object/apply:builtins.slice
|
| 998 |
+
- null
|
| 999 |
+
- null
|
| 1000 |
+
- null
|
| 1001 |
+
pair_names: null
|
| 1002 |
+
pair_ids: !!python/object/apply:builtins.slice
|
| 1003 |
+
- null
|
| 1004 |
+
- null
|
| 1005 |
+
- null
|
| 1006 |
+
preserve_order: false
|
| 1007 |
+
operation: add
|
| 1008 |
+
ranges:
|
| 1009 |
+
0: !!python/tuple
|
| 1010 |
+
- -0.025
|
| 1011 |
+
- 0.025
|
| 1012 |
+
1: !!python/tuple
|
| 1013 |
+
- -0.025
|
| 1014 |
+
- 0.025
|
| 1015 |
+
2: !!python/tuple
|
| 1016 |
+
- -0.03
|
| 1017 |
+
- 0.03
|
| 1018 |
+
mode: startup
|
| 1019 |
+
interval_range_s: null
|
| 1020 |
+
is_global_time: false
|
| 1021 |
+
min_step_count_between_reset: 0
|
| 1022 |
+
seed: 42
|
| 1023 |
+
sim:
|
| 1024 |
+
nconmax: null
|
| 1025 |
+
njmax: 300
|
| 1026 |
+
ls_parallel: true
|
| 1027 |
+
contact_sensor_maxmatch: 64
|
| 1028 |
+
mujoco:
|
| 1029 |
+
timestep: 0.005
|
| 1030 |
+
integrator: implicitfast
|
| 1031 |
+
impratio: 1.0
|
| 1032 |
+
cone: pyramidal
|
| 1033 |
+
jacobian: auto
|
| 1034 |
+
solver: newton
|
| 1035 |
+
iterations: 10
|
| 1036 |
+
tolerance: 1.0e-08
|
| 1037 |
+
ls_iterations: 20
|
| 1038 |
+
ls_tolerance: 0.01
|
| 1039 |
+
ccd_iterations: 50
|
| 1040 |
+
gravity: !!python/tuple
|
| 1041 |
+
- 0.0
|
| 1042 |
+
- 0.0
|
| 1043 |
+
- -9.81
|
| 1044 |
+
disableflags: !!python/tuple []
|
| 1045 |
+
enableflags: !!python/tuple []
|
| 1046 |
+
nan_guard:
|
| 1047 |
+
enabled: false
|
| 1048 |
+
buffer_size: 100
|
| 1049 |
+
output_dir: /tmp/mjlab/nan_dumps
|
| 1050 |
+
max_envs_to_dump: 5
|
| 1051 |
+
viewer:
|
| 1052 |
+
lookat: !!python/tuple
|
| 1053 |
+
- 0.0
|
| 1054 |
+
- 0.0
|
| 1055 |
+
- 0.0
|
| 1056 |
+
distance: 3.0
|
| 1057 |
+
fovy: null
|
| 1058 |
+
elevation: -5.0
|
| 1059 |
+
azimuth: 90.0
|
| 1060 |
+
origin_type: !!python/object/apply:mjlab.viewer.viewer_config.OriginType
|
| 1061 |
+
- 4
|
| 1062 |
+
entity_name: robot
|
| 1063 |
+
body_name: torso_link
|
| 1064 |
+
env_idx: 0
|
| 1065 |
+
max_extra_envs: 2
|
| 1066 |
+
enable_reflections: true
|
| 1067 |
+
enable_shadows: true
|
| 1068 |
+
height: 240
|
| 1069 |
+
width: 320
|
| 1070 |
+
episode_length_s: 20.0
|
| 1071 |
+
rewards:
|
| 1072 |
+
track_linear_velocity:
|
| 1073 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.track_linear_velocity ''
|
| 1074 |
+
params:
|
| 1075 |
+
command_name: twist
|
| 1076 |
+
std: 0.5
|
| 1077 |
+
weight: 2.0
|
| 1078 |
+
track_angular_velocity:
|
| 1079 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.track_angular_velocity ''
|
| 1080 |
+
params:
|
| 1081 |
+
command_name: twist
|
| 1082 |
+
std: 0.7071067811865476
|
| 1083 |
+
weight: 2.0
|
| 1084 |
+
upright:
|
| 1085 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.upright ''
|
| 1086 |
+
params:
|
| 1087 |
+
std: 0.4472135954999579
|
| 1088 |
+
asset_cfg:
|
| 1089 |
+
name: robot
|
| 1090 |
+
joint_names: null
|
| 1091 |
+
joint_ids: !!python/object/apply:builtins.slice
|
| 1092 |
+
- null
|
| 1093 |
+
- null
|
| 1094 |
+
- null
|
| 1095 |
+
body_names: !!python/tuple
|
| 1096 |
+
- torso_link
|
| 1097 |
+
body_ids: !!python/object/apply:builtins.slice
|
| 1098 |
+
- null
|
| 1099 |
+
- null
|
| 1100 |
+
- null
|
| 1101 |
+
geom_names: null
|
| 1102 |
+
geom_ids: !!python/object/apply:builtins.slice
|
| 1103 |
+
- null
|
| 1104 |
+
- null
|
| 1105 |
+
- null
|
| 1106 |
+
site_names: null
|
| 1107 |
+
site_ids: !!python/object/apply:builtins.slice
|
| 1108 |
+
- null
|
| 1109 |
+
- null
|
| 1110 |
+
- null
|
| 1111 |
+
actuator_names: null
|
| 1112 |
+
actuator_ids: !!python/object/apply:builtins.slice
|
| 1113 |
+
- null
|
| 1114 |
+
- null
|
| 1115 |
+
- null
|
| 1116 |
+
tendon_names: null
|
| 1117 |
+
tendon_ids: !!python/object/apply:builtins.slice
|
| 1118 |
+
- null
|
| 1119 |
+
- null
|
| 1120 |
+
- null
|
| 1121 |
+
camera_names: null
|
| 1122 |
+
camera_ids: !!python/object/apply:builtins.slice
|
| 1123 |
+
- null
|
| 1124 |
+
- null
|
| 1125 |
+
- null
|
| 1126 |
+
light_names: null
|
| 1127 |
+
light_ids: !!python/object/apply:builtins.slice
|
| 1128 |
+
- null
|
| 1129 |
+
- null
|
| 1130 |
+
- null
|
| 1131 |
+
material_names: null
|
| 1132 |
+
material_ids: !!python/object/apply:builtins.slice
|
| 1133 |
+
- null
|
| 1134 |
+
- null
|
| 1135 |
+
- null
|
| 1136 |
+
pair_names: null
|
| 1137 |
+
pair_ids: !!python/object/apply:builtins.slice
|
| 1138 |
+
- null
|
| 1139 |
+
- null
|
| 1140 |
+
- null
|
| 1141 |
+
preserve_order: false
|
| 1142 |
+
weight: 1.0
|
| 1143 |
+
pose:
|
| 1144 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.variable_posture ''
|
| 1145 |
+
params:
|
| 1146 |
+
asset_cfg:
|
| 1147 |
+
name: robot
|
| 1148 |
+
joint_names: !!python/tuple
|
| 1149 |
+
- .*
|
| 1150 |
+
joint_ids: !!python/object/apply:builtins.slice
|
| 1151 |
+
- null
|
| 1152 |
+
- null
|
| 1153 |
+
- null
|
| 1154 |
+
body_names: null
|
| 1155 |
+
body_ids: !!python/object/apply:builtins.slice
|
| 1156 |
+
- null
|
| 1157 |
+
- null
|
| 1158 |
+
- null
|
| 1159 |
+
geom_names: null
|
| 1160 |
+
geom_ids: !!python/object/apply:builtins.slice
|
| 1161 |
+
- null
|
| 1162 |
+
- null
|
| 1163 |
+
- null
|
| 1164 |
+
site_names: null
|
| 1165 |
+
site_ids: !!python/object/apply:builtins.slice
|
| 1166 |
+
- null
|
| 1167 |
+
- null
|
| 1168 |
+
- null
|
| 1169 |
+
actuator_names: null
|
| 1170 |
+
actuator_ids: !!python/object/apply:builtins.slice
|
| 1171 |
+
- null
|
| 1172 |
+
- null
|
| 1173 |
+
- null
|
| 1174 |
+
tendon_names: null
|
| 1175 |
+
tendon_ids: !!python/object/apply:builtins.slice
|
| 1176 |
+
- null
|
| 1177 |
+
- null
|
| 1178 |
+
- null
|
| 1179 |
+
camera_names: null
|
| 1180 |
+
camera_ids: !!python/object/apply:builtins.slice
|
| 1181 |
+
- null
|
| 1182 |
+
- null
|
| 1183 |
+
- null
|
| 1184 |
+
light_names: null
|
| 1185 |
+
light_ids: !!python/object/apply:builtins.slice
|
| 1186 |
+
- null
|
| 1187 |
+
- null
|
| 1188 |
+
- null
|
| 1189 |
+
material_names: null
|
| 1190 |
+
material_ids: !!python/object/apply:builtins.slice
|
| 1191 |
+
- null
|
| 1192 |
+
- null
|
| 1193 |
+
- null
|
| 1194 |
+
pair_names: null
|
| 1195 |
+
pair_ids: !!python/object/apply:builtins.slice
|
| 1196 |
+
- null
|
| 1197 |
+
- null
|
| 1198 |
+
- null
|
| 1199 |
+
preserve_order: false
|
| 1200 |
+
command_name: twist
|
| 1201 |
+
std_standing:
|
| 1202 |
+
.*: 0.05
|
| 1203 |
+
std_walking:
|
| 1204 |
+
.*hip_pitch.*: 0.3
|
| 1205 |
+
.*hip_roll.*: 0.15
|
| 1206 |
+
.*hip_yaw.*: 0.15
|
| 1207 |
+
.*knee.*: 0.35
|
| 1208 |
+
.*ankle_pitch.*: 0.25
|
| 1209 |
+
.*ankle_roll.*: 0.1
|
| 1210 |
+
.*waist_yaw.*: 0.2
|
| 1211 |
+
.*waist_roll.*: 0.08
|
| 1212 |
+
.*waist_pitch.*: 0.1
|
| 1213 |
+
.*shoulder_pitch.*: 0.15
|
| 1214 |
+
.*shoulder_roll.*: 0.15
|
| 1215 |
+
.*shoulder_yaw.*: 0.1
|
| 1216 |
+
.*elbow.*: 0.15
|
| 1217 |
+
.*wrist.*: 0.3
|
| 1218 |
+
std_running:
|
| 1219 |
+
.*hip_pitch.*: 0.5
|
| 1220 |
+
.*hip_roll.*: 0.2
|
| 1221 |
+
.*hip_yaw.*: 0.2
|
| 1222 |
+
.*knee.*: 0.6
|
| 1223 |
+
.*ankle_pitch.*: 0.35
|
| 1224 |
+
.*ankle_roll.*: 0.15
|
| 1225 |
+
.*waist_yaw.*: 0.3
|
| 1226 |
+
.*waist_roll.*: 0.08
|
| 1227 |
+
.*waist_pitch.*: 0.2
|
| 1228 |
+
.*shoulder_pitch.*: 0.5
|
| 1229 |
+
.*shoulder_roll.*: 0.2
|
| 1230 |
+
.*shoulder_yaw.*: 0.15
|
| 1231 |
+
.*elbow.*: 0.35
|
| 1232 |
+
.*wrist.*: 0.3
|
| 1233 |
+
walking_threshold: 0.05
|
| 1234 |
+
running_threshold: 1.5
|
| 1235 |
+
weight: 1.0
|
| 1236 |
+
body_ang_vel:
|
| 1237 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.body_angular_velocity_penalty ''
|
| 1238 |
+
params:
|
| 1239 |
+
asset_cfg:
|
| 1240 |
+
name: robot
|
| 1241 |
+
joint_names: null
|
| 1242 |
+
joint_ids: !!python/object/apply:builtins.slice
|
| 1243 |
+
- null
|
| 1244 |
+
- null
|
| 1245 |
+
- null
|
| 1246 |
+
body_names: !!python/tuple
|
| 1247 |
+
- torso_link
|
| 1248 |
+
body_ids: !!python/object/apply:builtins.slice
|
| 1249 |
+
- null
|
| 1250 |
+
- null
|
| 1251 |
+
- null
|
| 1252 |
+
geom_names: null
|
| 1253 |
+
geom_ids: !!python/object/apply:builtins.slice
|
| 1254 |
+
- null
|
| 1255 |
+
- null
|
| 1256 |
+
- null
|
| 1257 |
+
site_names: null
|
| 1258 |
+
site_ids: !!python/object/apply:builtins.slice
|
| 1259 |
+
- null
|
| 1260 |
+
- null
|
| 1261 |
+
- null
|
| 1262 |
+
actuator_names: null
|
| 1263 |
+
actuator_ids: !!python/object/apply:builtins.slice
|
| 1264 |
+
- null
|
| 1265 |
+
- null
|
| 1266 |
+
- null
|
| 1267 |
+
tendon_names: null
|
| 1268 |
+
tendon_ids: !!python/object/apply:builtins.slice
|
| 1269 |
+
- null
|
| 1270 |
+
- null
|
| 1271 |
+
- null
|
| 1272 |
+
camera_names: null
|
| 1273 |
+
camera_ids: !!python/object/apply:builtins.slice
|
| 1274 |
+
- null
|
| 1275 |
+
- null
|
| 1276 |
+
- null
|
| 1277 |
+
light_names: null
|
| 1278 |
+
light_ids: !!python/object/apply:builtins.slice
|
| 1279 |
+
- null
|
| 1280 |
+
- null
|
| 1281 |
+
- null
|
| 1282 |
+
material_names: null
|
| 1283 |
+
material_ids: !!python/object/apply:builtins.slice
|
| 1284 |
+
- null
|
| 1285 |
+
- null
|
| 1286 |
+
- null
|
| 1287 |
+
pair_names: null
|
| 1288 |
+
pair_ids: !!python/object/apply:builtins.slice
|
| 1289 |
+
- null
|
| 1290 |
+
- null
|
| 1291 |
+
- null
|
| 1292 |
+
preserve_order: false
|
| 1293 |
+
weight: -0.05
|
| 1294 |
+
angular_momentum:
|
| 1295 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.angular_momentum_penalty ''
|
| 1296 |
+
params:
|
| 1297 |
+
sensor_name: robot/root_angmom
|
| 1298 |
+
weight: -0.02
|
| 1299 |
+
dof_pos_limits:
|
| 1300 |
+
func: !!python/name:mjlab.envs.mdp.rewards.joint_pos_limits ''
|
| 1301 |
+
params: {}
|
| 1302 |
+
weight: -1.0
|
| 1303 |
+
action_rate_l2:
|
| 1304 |
+
func: !!python/name:mjlab.envs.mdp.rewards.action_rate_l2 ''
|
| 1305 |
+
params: {}
|
| 1306 |
+
weight: -0.1
|
| 1307 |
+
air_time:
|
| 1308 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.feet_air_time ''
|
| 1309 |
+
params:
|
| 1310 |
+
sensor_name: feet_ground_contact
|
| 1311 |
+
threshold_min: 0.05
|
| 1312 |
+
threshold_max: 0.5
|
| 1313 |
+
command_name: twist
|
| 1314 |
+
command_threshold: 0.5
|
| 1315 |
+
weight: 0.0
|
| 1316 |
+
foot_clearance:
|
| 1317 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.feet_clearance ''
|
| 1318 |
+
params:
|
| 1319 |
+
target_height: 0.1
|
| 1320 |
+
height_sensor_name: foot_height_scan
|
| 1321 |
+
command_name: twist
|
| 1322 |
+
command_threshold: 0.05
|
| 1323 |
+
asset_cfg:
|
| 1324 |
+
name: robot
|
| 1325 |
+
joint_names: null
|
| 1326 |
+
joint_ids: !!python/object/apply:builtins.slice
|
| 1327 |
+
- null
|
| 1328 |
+
- null
|
| 1329 |
+
- null
|
| 1330 |
+
body_names: null
|
| 1331 |
+
body_ids: !!python/object/apply:builtins.slice
|
| 1332 |
+
- null
|
| 1333 |
+
- null
|
| 1334 |
+
- null
|
| 1335 |
+
geom_names: null
|
| 1336 |
+
geom_ids: !!python/object/apply:builtins.slice
|
| 1337 |
+
- null
|
| 1338 |
+
- null
|
| 1339 |
+
- null
|
| 1340 |
+
site_names: !!python/tuple
|
| 1341 |
+
- left_foot
|
| 1342 |
+
- right_foot
|
| 1343 |
+
site_ids: !!python/object/apply:builtins.slice
|
| 1344 |
+
- null
|
| 1345 |
+
- null
|
| 1346 |
+
- null
|
| 1347 |
+
actuator_names: null
|
| 1348 |
+
actuator_ids: !!python/object/apply:builtins.slice
|
| 1349 |
+
- null
|
| 1350 |
+
- null
|
| 1351 |
+
- null
|
| 1352 |
+
tendon_names: null
|
| 1353 |
+
tendon_ids: !!python/object/apply:builtins.slice
|
| 1354 |
+
- null
|
| 1355 |
+
- null
|
| 1356 |
+
- null
|
| 1357 |
+
camera_names: null
|
| 1358 |
+
camera_ids: !!python/object/apply:builtins.slice
|
| 1359 |
+
- null
|
| 1360 |
+
- null
|
| 1361 |
+
- null
|
| 1362 |
+
light_names: null
|
| 1363 |
+
light_ids: !!python/object/apply:builtins.slice
|
| 1364 |
+
- null
|
| 1365 |
+
- null
|
| 1366 |
+
- null
|
| 1367 |
+
material_names: null
|
| 1368 |
+
material_ids: !!python/object/apply:builtins.slice
|
| 1369 |
+
- null
|
| 1370 |
+
- null
|
| 1371 |
+
- null
|
| 1372 |
+
pair_names: null
|
| 1373 |
+
pair_ids: !!python/object/apply:builtins.slice
|
| 1374 |
+
- null
|
| 1375 |
+
- null
|
| 1376 |
+
- null
|
| 1377 |
+
preserve_order: false
|
| 1378 |
+
weight: -2.0
|
| 1379 |
+
foot_swing_height:
|
| 1380 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.feet_swing_height ''
|
| 1381 |
+
params:
|
| 1382 |
+
sensor_name: feet_ground_contact
|
| 1383 |
+
height_sensor_name: foot_height_scan
|
| 1384 |
+
target_height: 0.1
|
| 1385 |
+
command_name: twist
|
| 1386 |
+
command_threshold: 0.05
|
| 1387 |
+
weight: -0.25
|
| 1388 |
+
foot_slip:
|
| 1389 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.feet_slip ''
|
| 1390 |
+
params:
|
| 1391 |
+
sensor_name: feet_ground_contact
|
| 1392 |
+
command_name: twist
|
| 1393 |
+
command_threshold: 0.05
|
| 1394 |
+
asset_cfg:
|
| 1395 |
+
name: robot
|
| 1396 |
+
joint_names: null
|
| 1397 |
+
joint_ids: !!python/object/apply:builtins.slice
|
| 1398 |
+
- null
|
| 1399 |
+
- null
|
| 1400 |
+
- null
|
| 1401 |
+
body_names: null
|
| 1402 |
+
body_ids: !!python/object/apply:builtins.slice
|
| 1403 |
+
- null
|
| 1404 |
+
- null
|
| 1405 |
+
- null
|
| 1406 |
+
geom_names: null
|
| 1407 |
+
geom_ids: !!python/object/apply:builtins.slice
|
| 1408 |
+
- null
|
| 1409 |
+
- null
|
| 1410 |
+
- null
|
| 1411 |
+
site_names: !!python/tuple
|
| 1412 |
+
- left_foot
|
| 1413 |
+
- right_foot
|
| 1414 |
+
site_ids: !!python/object/apply:builtins.slice
|
| 1415 |
+
- null
|
| 1416 |
+
- null
|
| 1417 |
+
- null
|
| 1418 |
+
actuator_names: null
|
| 1419 |
+
actuator_ids: !!python/object/apply:builtins.slice
|
| 1420 |
+
- null
|
| 1421 |
+
- null
|
| 1422 |
+
- null
|
| 1423 |
+
tendon_names: null
|
| 1424 |
+
tendon_ids: !!python/object/apply:builtins.slice
|
| 1425 |
+
- null
|
| 1426 |
+
- null
|
| 1427 |
+
- null
|
| 1428 |
+
camera_names: null
|
| 1429 |
+
camera_ids: !!python/object/apply:builtins.slice
|
| 1430 |
+
- null
|
| 1431 |
+
- null
|
| 1432 |
+
- null
|
| 1433 |
+
light_names: null
|
| 1434 |
+
light_ids: !!python/object/apply:builtins.slice
|
| 1435 |
+
- null
|
| 1436 |
+
- null
|
| 1437 |
+
- null
|
| 1438 |
+
material_names: null
|
| 1439 |
+
material_ids: !!python/object/apply:builtins.slice
|
| 1440 |
+
- null
|
| 1441 |
+
- null
|
| 1442 |
+
- null
|
| 1443 |
+
pair_names: null
|
| 1444 |
+
pair_ids: !!python/object/apply:builtins.slice
|
| 1445 |
+
- null
|
| 1446 |
+
- null
|
| 1447 |
+
- null
|
| 1448 |
+
preserve_order: false
|
| 1449 |
+
weight: -0.1
|
| 1450 |
+
soft_landing:
|
| 1451 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.soft_landing ''
|
| 1452 |
+
params:
|
| 1453 |
+
sensor_name: feet_ground_contact
|
| 1454 |
+
command_name: twist
|
| 1455 |
+
command_threshold: 0.05
|
| 1456 |
+
weight: -1.0e-05
|
| 1457 |
+
self_collisions:
|
| 1458 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.rewards.self_collision_cost ''
|
| 1459 |
+
params:
|
| 1460 |
+
sensor_name: self_collision
|
| 1461 |
+
force_threshold: 10.0
|
| 1462 |
+
weight: -1.0
|
| 1463 |
+
terminations:
|
| 1464 |
+
time_out:
|
| 1465 |
+
func: !!python/name:mjlab.envs.mdp.terminations.time_out ''
|
| 1466 |
+
params: {}
|
| 1467 |
+
time_out: true
|
| 1468 |
+
fell_over:
|
| 1469 |
+
func: !!python/name:mjlab.envs.mdp.terminations.bad_orientation ''
|
| 1470 |
+
params:
|
| 1471 |
+
limit_angle: 1.2217304763960306
|
| 1472 |
+
time_out: false
|
| 1473 |
+
commands:
|
| 1474 |
+
twist:
|
| 1475 |
+
resampling_time_range: !!python/tuple
|
| 1476 |
+
- 3.0
|
| 1477 |
+
- 8.0
|
| 1478 |
+
debug_vis: true
|
| 1479 |
+
entity_name: robot
|
| 1480 |
+
heading_command: true
|
| 1481 |
+
heading_control_stiffness: 0.5
|
| 1482 |
+
rel_standing_envs: 0.1
|
| 1483 |
+
rel_heading_envs: 0.3
|
| 1484 |
+
rel_world_envs: 0.0
|
| 1485 |
+
rel_forward_envs: 0.2
|
| 1486 |
+
init_velocity_prob: 0.0
|
| 1487 |
+
ranges:
|
| 1488 |
+
lin_vel_x: !!python/tuple
|
| 1489 |
+
- -1.0
|
| 1490 |
+
- 1.0
|
| 1491 |
+
lin_vel_y: !!python/tuple
|
| 1492 |
+
- -1.0
|
| 1493 |
+
- 1.0
|
| 1494 |
+
ang_vel_z: !!python/tuple
|
| 1495 |
+
- -0.5
|
| 1496 |
+
- 0.5
|
| 1497 |
+
heading: !!python/tuple
|
| 1498 |
+
- -3.141592653589793
|
| 1499 |
+
- 3.141592653589793
|
| 1500 |
+
viz:
|
| 1501 |
+
z_offset: 1.15
|
| 1502 |
+
scale: 0.5
|
| 1503 |
+
curriculum:
|
| 1504 |
+
command_vel:
|
| 1505 |
+
func: !!python/name:mjlab.tasks.velocity.mdp.curriculums.commands_vel ''
|
| 1506 |
+
params:
|
| 1507 |
+
command_name: twist
|
| 1508 |
+
velocity_stages:
|
| 1509 |
+
- step: 0
|
| 1510 |
+
lin_vel_x: !!python/tuple
|
| 1511 |
+
- -1.0
|
| 1512 |
+
- 1.0
|
| 1513 |
+
ang_vel_z: !!python/tuple
|
| 1514 |
+
- -0.5
|
| 1515 |
+
- 0.5
|
| 1516 |
+
- step: 120000
|
| 1517 |
+
lin_vel_x: !!python/tuple
|
| 1518 |
+
- -1.5
|
| 1519 |
+
- 2.0
|
| 1520 |
+
ang_vel_z: !!python/tuple
|
| 1521 |
+
- -0.7
|
| 1522 |
+
- 0.7
|
| 1523 |
+
- step: 240000
|
| 1524 |
+
lin_vel_x: !!python/tuple
|
| 1525 |
+
- -2.0
|
| 1526 |
+
- 3.0
|
| 1527 |
+
metrics:
|
| 1528 |
+
mean_action_acc:
|
| 1529 |
+
func: !!python/name:mjlab.envs.mdp.metrics.mean_action_acc ''
|
| 1530 |
+
params: {}
|
| 1531 |
+
per_substep: false
|
| 1532 |
+
reduce: mean
|
| 1533 |
+
recorders: {}
|
| 1534 |
+
is_finite_horizon: false
|
| 1535 |
+
auto_reset: true
|
| 1536 |
+
scale_rewards_by_dt: true
|