decimation: 4
scene:
  num_envs: 4096
  env_spacing: 2.0
  terrain:
    init_state:
      pos: !!python/tuple
      - 0.0
      - 0.0
      - 0.0
      rot: !!python/tuple
      - 1.0
      - 0.0
      - 0.0
      - 0.0
      lin_vel: !!python/tuple
      - 0.0
      - 0.0
      - 0.0
      ang_vel: !!python/tuple
      - 0.0
      - 0.0
      - 0.0
      joint_pos:
        .*: 0.0
      joint_vel:
        .*: 0.0
    spec_fn: !!python/name:mjlab.entity.entity.%3Clambda%3E ''
    articulation: null
    sort_actuators: false
    lights: !!python/tuple
    - name: sun
      body: world
      mode: fixed
      target: null
      type: directional
      castshadow: true
      pos: !!python/tuple
      - 0.0
      - 0.0
      - 1.5
      dir: !!python/tuple
      - 0.0
      - 0.0
      - -1.0
      cutoff: 45.0
      exponent: 10.0
    cameras: !!python/tuple []
    textures: !!python/tuple
    - name: groundplane
      type: 2d
      builtin: checker
      rgb1: !!python/tuple
      - 0.2
      - 0.3
      - 0.4
      rgb2: !!python/tuple
      - 0.1
      - 0.2
      - 0.3
      width: 300
      height: 300
      mark: edge
      markrgb: !!python/tuple
      - 0.8
      - 0.8
      - 0.8
    materials: !!python/tuple
    - name: groundplane
      rgba: !!python/tuple
      - 1.0
      - 1.0
      - 1.0
      - 1.0
      texuniform: true
      texrepeat: !!python/tuple
      - 4.0
      - 4.0
      reflectance: 0.2
      texture: groundplane
      geom_names_expr: !!python/tuple
      - terrain$
    collisions: !!python/tuple []
    terrain_type: generator
    terrain_generator:
      seed: null
      curriculum: true
      size: !!python/tuple
      - 8.0
      - 8.0
      border_width: 20.0
      border_height: 1.0
      num_rows: 10
      num_cols: 20
      color_scheme: height
      sub_terrains:
        flat:
          proportion: 0.2
          size: !!python/tuple
          - 8.0
          - 8.0
          flat_patch_sampling: null
        pyramid_stairs:
          proportion: 0.2
          size: !!python/tuple
          - 8.0
          - 8.0
          flat_patch_sampling: null
          border_width: 1.0
          step_height_range: !!python/tuple
          - 0.0
          - 0.1
          step_width: 0.3
          platform_width: 3.0
          holes: false
        pyramid_stairs_inv:
          proportion: 0.2
          size: !!python/tuple
          - 8.0
          - 8.0
          flat_patch_sampling: null
          border_width: 1.0
          step_height_range: !!python/tuple
          - 0.0
          - 0.1
          step_width: 0.3
          platform_width: 3.0
          holes: false
        hf_pyramid_slope:
          proportion: 0.1
          size: !!python/tuple
          - 8.0
          - 8.0
          flat_patch_sampling: null
          slope_range: !!python/tuple
          - 0.0
          - 1.0
          platform_width: 2.0
          inverted: false
          border_width: 0.25
          horizontal_scale: 0.1
          vertical_scale: 0.005
          base_thickness_ratio: 1.0
        hf_pyramid_slope_inv:
          proportion: 0.1
          size: !!python/tuple
          - 8.0
          - 8.0
          flat_patch_sampling: null
          slope_range: !!python/tuple
          - 0.0
          - 1.0
          platform_width: 2.0
          inverted: true
          border_width: 0.25
          horizontal_scale: 0.1
          vertical_scale: 0.005
          base_thickness_ratio: 1.0
        random_rough:
          proportion: 0.1
          size: !!python/tuple
          - 8.0
          - 8.0
          flat_patch_sampling: null
          noise_range: !!python/tuple
          - 0.02
          - 0.1
          noise_step: 0.02
          downsampled_scale: null
          horizontal_scale: 0.1
          vertical_scale: 0.005
          base_thickness_ratio: 1.0
          border_width: 0.25
        wave_terrain:
          proportion: 0.1
          size: !!python/tuple
          - 8.0
          - 8.0
          flat_patch_sampling: null
          amplitude_range: !!python/tuple
          - 0.0
          - 0.2
          num_waves: 4
          horizontal_scale: 0.1
          vertical_scale: 0.005
          base_thickness_ratio: 0.25
          border_width: 0.25
      difficulty_range: !!python/tuple
      - 0.0
      - 1.0
      add_lights: true
    env_spacing: 2.0
    max_init_terrain_level: 5
    num_envs: 4096
  entities:
    robot:
      init_state:
        pos: !!python/tuple
        - 0.0
        - 0.0
        - 0.278
        rot: !!python/tuple
        - 1.0
        - 0.0
        - 0.0
        - 0.0
        lin_vel: !!python/tuple
        - 0.0
        - 0.0
        - 0.0
        ang_vel: !!python/tuple
        - 0.0
        - 0.0
        - 0.0
        joint_pos:
          .*thigh_joint: 0.9
          .*calf_joint: -1.8
          .*R_hip_joint: 0.1
          .*L_hip_joint: -0.1
        joint_vel:
          .*: 0.0
      spec_fn: !!python/name:mjlab.asset_zoo.robots.unitree_go1.go1_constants.get_spec ''
      articulation:
        actuators: !!python/tuple
        - target_names_expr: !!python/tuple
          - .*_hip_joint
          - .*_thigh_joint
          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
          - joint
          armature: 0.004026312
          frictionloss: null
          viscous_damping: null
          delay_min_lag: 0
          delay_max_lag: 0
          delay_hold_prob: 0.0
          delay_update_period: 0
          delay_per_env_phase: true
          stiffness: 15.89524265323492
          damping: 1.0119225759919113
          effort_limit: 23.7
        - target_names_expr: !!python/tuple
          - .*_calf_joint
          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
          - joint
          armature: 0.009059202
          frictionloss: null
          viscous_damping: null
          delay_min_lag: 0
          delay_max_lag: 0
          delay_hold_prob: 0.0
          delay_update_period: 0
          delay_per_env_phase: true
          stiffness: 35.76429596977857
          damping: 2.2768257959818006
          effort_limit: 35.55
        soft_joint_pos_limit_factor: 0.9
      sort_actuators: false
      lights: !!python/tuple []
      cameras: !!python/tuple []
      textures: !!python/tuple []
      materials: !!python/tuple []
      collisions: !!python/tuple
      - geom_names_expr: !!python/tuple
        - .*_collision
        contype: 1
        conaffinity: 1
        condim:
          ^[FR][LR]_foot_collision$: 6
          .*_collision: 1
        priority:
          ^[FR][LR]_foot_collision$: 1
        friction:
          ^[FR][LR]_foot_collision$: !!python/tuple
          - 1
          - 0.005
          - 0.0005
        solref: !!python/tuple
        - 0.01
        - 1
        solimp: null
        margin: null
        gap: null
        solmix: null
        disable_other_geoms: true
  sensors: !!python/tuple
  - name: terrain_scan
    frame:
      type: body
      name: trunk
      entity: robot
    pattern:
      size: !!python/tuple
      - 1.6
      - 1.0
      resolution: 0.1
      direction: !!python/tuple
      - 0.0
      - 0.0
      - -1.0
    ray_alignment: yaw
    max_distance: 5.0
    exclude_parent_body: true
    include_geom_groups: !!python/tuple
    - 0
    debug_vis: true
    viz:
      hit_color: !!python/tuple
      - 0.0
      - 1.0
      - 0.0
      - 0.8
      miss_color: !!python/tuple
      - 1.0
      - 0.0
      - 0.0
      - 0.4
      hit_sphere_color: !!python/tuple
      - 0.0
      - 1.0
      - 1.0
      - 1.0
      hit_sphere_radius: 0.5
      show_rays: false
      show_normals: false
      normal_color: !!python/tuple
      - 1.0
      - 1.0
      - 0.0
      - 1.0
      normal_length: 5.0
  - name: foot_height_scan
    frame: !!python/tuple
    - type: site
      name: FR
      entity: robot
    - type: site
      name: FL
      entity: robot
    - type: site
      name: RR
      entity: robot
    - type: site
      name: RL
      entity: robot
    pattern:
      rings: !!python/tuple
      - radius: 0.04
        num_samples: 4
      include_center: true
      direction: !!python/tuple
      - 0.0
      - 0.0
      - -1.0
    ray_alignment: yaw
    max_distance: 1.0
    exclude_parent_body: true
    include_geom_groups: !!python/tuple
    - 0
    debug_vis: true
    viz:
      hit_color: !!python/tuple
      - 1.0
      - 0.0
      - 1.0
      - 0.8
      miss_color: !!python/tuple
      - 1.0
      - 0.0
      - 0.0
      - 0.4
      hit_sphere_color: !!python/tuple
      - 1.0
      - 0.0
      - 1.0
      - 1.0
      hit_sphere_radius: 0.5
      show_rays: true
      show_normals: false
      normal_color: !!python/tuple
      - 1.0
      - 1.0
      - 0.0
      - 1.0
      normal_length: 5.0
    reduction: min
  - name: feet_ground_contact
    primary:
      mode: geom
      pattern: !!python/tuple
      - FR_foot_collision
      - FL_foot_collision
      - RR_foot_collision
      - RL_foot_collision
      entity: robot
      exclude: !!python/tuple []
    secondary:
      mode: body
      pattern: terrain
      entity: null
      exclude: !!python/tuple []
    fields: !!python/tuple
    - found
    - force
    reduce: netforce
    num_slots: 1
    secondary_policy: first
    track_air_time: true
    global_frame: false
    history_length: 0
    debug: false
  - name: self_collision
    primary:
      mode: subtree
      pattern: trunk
      entity: robot
      exclude: !!python/tuple []
    secondary:
      mode: subtree
      pattern: trunk
      entity: robot
      exclude: !!python/tuple []
    fields: !!python/tuple
    - found
    - force
    reduce: none
    num_slots: 1
    secondary_policy: first
    track_air_time: false
    global_frame: false
    history_length: 4
    debug: false
  - name: thigh_ground_touch
    primary:
      mode: geom
      pattern: !!python/tuple
      - FR_thigh_collision1
      - FR_thigh_collision2
      - FR_thigh_collision3
      - FL_thigh_collision1
      - FL_thigh_collision2
      - FL_thigh_collision3
      - RR_thigh_collision1
      - RR_thigh_collision2
      - RR_thigh_collision3
      - RL_thigh_collision1
      - RL_thigh_collision2
      - RL_thigh_collision3
      entity: robot
      exclude: !!python/tuple []
    secondary:
      mode: body
      pattern: terrain
      entity: null
      exclude: !!python/tuple []
    fields: !!python/tuple
    - found
    - force
    reduce: none
    num_slots: 1
    secondary_policy: first
    track_air_time: false
    global_frame: false
    history_length: 4
    debug: false
  - name: shank_ground_touch
    primary:
      mode: geom
      pattern: !!python/tuple
      - FR_calf_collision1
      - FR_calf_collision2
      - FL_calf_collision1
      - FL_calf_collision2
      - RR_calf_collision1
      - RR_calf_collision2
      - RL_calf_collision1
      - RL_calf_collision2
      entity: robot
      exclude: !!python/tuple []
    secondary:
      mode: body
      pattern: terrain
      entity: null
      exclude: !!python/tuple []
    fields: !!python/tuple
    - found
    - force
    reduce: none
    num_slots: 1
    secondary_policy: first
    track_air_time: false
    global_frame: false
    history_length: 4
    debug: false
  - name: trunk_ground_touch
    primary:
      mode: geom
      pattern: !!python/tuple
      - trunk_collision
      - head_collision
      entity: robot
      exclude: !!python/tuple []
    secondary:
      mode: body
      pattern: terrain
      entity: null
      exclude: !!python/tuple []
    fields: !!python/tuple
    - found
    - force
    reduce: none
    num_slots: 1
    secondary_policy: first
    track_air_time: false
    global_frame: false
    history_length: 4
    debug: false
  extent: 2.0
  spec_fn: null
observations:
  actor:
    terms:
      base_lin_vel:
        func: &id001 !!python/name:mjlab.envs.mdp.observations.builtin_sensor ''
        params:
          sensor_name: robot/imu_lin_vel
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -0.5
          n_max: 0.5
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      base_ang_vel:
        func: *id001
        params:
          sensor_name: robot/imu_ang_vel
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -0.2
          n_max: 0.2
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      projected_gravity:
        func: &id002 !!python/name:mjlab.envs.mdp.observations.projected_gravity ''
        params: {}
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -0.05
          n_max: 0.05
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      joint_pos:
        func: &id003 !!python/name:mjlab.envs.mdp.observations.joint_pos_rel ''
        params: {}
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -0.01
          n_max: 0.01
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      joint_vel:
        func: &id004 !!python/name:mjlab.envs.mdp.observations.joint_vel_rel ''
        params: {}
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -1.5
          n_max: 1.5
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      actions:
        func: &id005 !!python/name:mjlab.envs.mdp.observations.last_action ''
        params: {}
        noise: null
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      command:
        func: &id006 !!python/name:mjlab.envs.mdp.observations.generated_commands ''
        params:
          command_name: twist
        noise: null
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      height_scan:
        func: &id007 !!python/name:mjlab.envs.mdp.observations.height_scan ''
        params:
          sensor_name: terrain_scan
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -0.1
          n_max: 0.1
        clip: null
        scale: 0.2
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
    concatenate_terms: true
    concatenate_dim: -1
    enable_corruption: true
    history_length: null
    flatten_history_dim: true
    nan_policy: disabled
    nan_check_per_term: true
  critic:
    terms:
      base_lin_vel:
        func: *id001
        params:
          sensor_name: robot/imu_lin_vel
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -0.5
          n_max: 0.5
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      base_ang_vel:
        func: *id001
        params:
          sensor_name: robot/imu_ang_vel
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -0.2
          n_max: 0.2
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      projected_gravity:
        func: *id002
        params: {}
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -0.05
          n_max: 0.05
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      joint_pos:
        func: *id003
        params: {}
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -0.01
          n_max: 0.01
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      joint_vel:
        func: *id004
        params: {}
        noise:
          operation: add
          _tensor_cache: {}
          n_min: -1.5
          n_max: 1.5
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      actions:
        func: *id005
        params: {}
        noise: null
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      command:
        func: *id006
        params:
          command_name: twist
        noise: null
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      height_scan:
        func: *id007
        params:
          sensor_name: terrain_scan
        noise: null
        clip: null
        scale: 0.2
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      foot_height:
        func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_height ''
        params:
          sensor_name: foot_height_scan
        noise: null
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      foot_air_time:
        func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_air_time ''
        params:
          sensor_name: feet_ground_contact
        noise: null
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      foot_contact:
        func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_contact ''
        params:
          sensor_name: feet_ground_contact
        noise: null
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
      foot_contact_forces:
        func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_contact_forces ''
        params:
          sensor_name: feet_ground_contact
        noise: null
        clip: null
        scale: null
        delay_min_lag: 0
        delay_max_lag: 0
        delay_per_env: true
        delay_hold_prob: 0.0
        delay_update_period: 0
        delay_per_env_phase: true
        history_length: 0
        flatten_history_dim: true
    concatenate_terms: true
    concatenate_dim: -1
    enable_corruption: false
    history_length: null
    flatten_history_dim: true
    nan_policy: disabled
    nan_check_per_term: true
actions:
  joint_pos:
    entity_name: robot
    clip: null
    transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
    - joint
    actuator_names: !!python/tuple
    - .*
    scale:
      .*_hip_joint: 0.3727530387083568
      .*_thigh_joint: 0.3727530387083568
      .*_calf_joint: 0.24850202580557115
    offset: 0.0
    preserve_order: false
    use_default_offset: true
events:
  reset_base:
    func: !!python/name:mjlab.envs.mdp.events.reset_root_state_uniform ''
    params:
      pose_range:
        x: !!python/tuple
        - -0.5
        - 0.5
        y: !!python/tuple
        - -0.5
        - 0.5
        z: !!python/tuple
        - 0.01
        - 0.05
        yaw: !!python/tuple
        - -3.14
        - 3.14
      velocity_range: {}
    mode: reset
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
  reset_robot_joints:
    func: !!python/name:mjlab.envs.mdp.events.reset_joints_by_offset ''
    params:
      position_range: !!python/tuple
      - 0.0
      - 0.0
      velocity_range: !!python/tuple
      - 0.0
      - 0.0
      asset_cfg:
        name: robot
        joint_names: !!python/tuple
        - .*
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: null
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: null
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    mode: reset
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
  push_robot:
    func: !!python/name:mjlab.envs.mdp.events.push_by_setting_velocity ''
    params:
      velocity_range:
        x: !!python/tuple
        - -0.5
        - 0.5
        y: !!python/tuple
        - -0.5
        - 0.5
        z: !!python/tuple
        - -0.4
        - 0.4
        roll: !!python/tuple
        - -0.52
        - 0.52
        pitch: !!python/tuple
        - -0.52
        - 0.52
        yaw: !!python/tuple
        - -0.78
        - 0.78
    mode: interval
    interval_range_s: !!python/tuple
    - 1.0
    - 3.0
    is_global_time: false
    min_step_count_between_reset: 0
  encoder_bias:
    func: !!python/name:mjlab.envs.mdp.dr.joint.encoder_bias ''
    params:
      asset_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: null
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: null
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      bias_range: !!python/tuple
      - -0.015
      - 0.015
    mode: startup
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
  base_com:
    func: !!python/name:mjlab.envs.mdp.dr.body.body_com_offset ''
    params:
      asset_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: !!python/tuple
        - trunk
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: null
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: null
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      operation: add
      ranges:
        0: !!python/tuple
        - -0.025
        - 0.025
        1: !!python/tuple
        - -0.025
        - 0.025
        2: !!python/tuple
        - -0.03
        - 0.03
    mode: startup
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
  foot_friction_slide:
    func: &id008 !!python/name:mjlab.envs.mdp.dr.geom.geom_friction ''
    params:
      asset_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: !!python/tuple
        - FR_foot_collision
        - FL_foot_collision
        - RR_foot_collision
        - RL_foot_collision
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: null
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      operation: abs
      axes:
      - 0
      ranges: !!python/tuple
      - 0.3
      - 1.5
      shared_random: true
    mode: startup
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
  foot_friction_spin:
    func: *id008
    params:
      asset_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: !!python/tuple
        - FR_foot_collision
        - FL_foot_collision
        - RR_foot_collision
        - RL_foot_collision
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: null
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      operation: abs
      distribution: log_uniform
      axes:
      - 1
      ranges: !!python/tuple
      - 0.0001
      - 0.02
      shared_random: true
    mode: startup
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
  foot_friction_roll:
    func: *id008
    params:
      asset_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: !!python/tuple
        - FR_foot_collision
        - FL_foot_collision
        - RR_foot_collision
        - RL_foot_collision
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: null
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      operation: abs
      distribution: log_uniform
      axes:
      - 2
      ranges: !!python/tuple
      - 1.0e-05
      - 0.005
      shared_random: true
    mode: startup
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
seed: 42
sim:
  nconmax: 35
  njmax: 1500
  ls_parallel: true
  contact_sensor_maxmatch: 500
  mujoco:
    timestep: 0.005
    integrator: implicitfast
    impratio: 10
    cone: elliptic
    jacobian: auto
    solver: newton
    iterations: 10
    tolerance: 1.0e-08
    ls_iterations: 20
    ls_tolerance: 0.01
    ccd_iterations: 500
    gravity: !!python/tuple
    - 0.0
    - 0.0
    - -9.81
    disableflags: !!python/tuple []
    enableflags: !!python/tuple []
  nan_guard:
    enabled: false
    buffer_size: 100
    output_dir: /tmp/mjlab/nan_dumps
    max_envs_to_dump: 5
viewer:
  lookat: !!python/tuple
  - 0.0
  - 0.0
  - 0.0
  distance: 1.5
  fovy: null
  elevation: -10.0
  azimuth: 90.0
  origin_type: !!python/object/apply:mjlab.viewer.viewer_config.OriginType
  - 4
  entity_name: robot
  body_name: trunk
  env_idx: 0
  max_extra_envs: 2
  enable_reflections: true
  enable_shadows: true
  height: 240
  width: 320
episode_length_s: 20.0
rewards:
  track_linear_velocity:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.track_linear_velocity ''
    params:
      command_name: twist
      std: 0.5
    weight: 2.0
  track_angular_velocity:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.track_angular_velocity ''
    params:
      command_name: twist
      std: 0.7071067811865476
    weight: 2.0
  upright:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.upright ''
    params:
      std: 0.4472135954999579
      asset_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: !!python/tuple
        - trunk
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: null
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: null
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      terrain_sensor_names: !!python/tuple
      - terrain_scan
    weight: 1.0
  pose:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.variable_posture ''
    params:
      asset_cfg:
        name: robot
        joint_names: !!python/tuple
        - .*
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: null
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: null
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      command_name: twist
      std_standing:
        .*(FR|FL|RR|RL)_(hip|thigh)_joint.*: 0.05
        .*(FR|FL|RR|RL)_calf_joint.*: 0.1
      std_walking:
        .*(FR|FL|RR|RL)_(hip|thigh)_joint.*: 0.3
        .*(FR|FL|RR|RL)_calf_joint.*: 0.6
      std_running:
        .*(FR|FL|RR|RL)_(hip|thigh)_joint.*: 0.3
        .*(FR|FL|RR|RL)_calf_joint.*: 0.6
      walking_threshold: 0.05
      running_threshold: 1.5
    weight: 1.0
  body_ang_vel:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.body_angular_velocity_penalty ''
    params:
      asset_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: !!python/tuple
        - trunk
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: null
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: null
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: 0.0
  angular_momentum:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.angular_momentum_penalty ''
    params:
      sensor_name: robot/root_angmom
    weight: 0.0
  dof_pos_limits:
    func: !!python/name:mjlab.envs.mdp.rewards.joint_pos_limits ''
    params: {}
    weight: -1.0
  action_rate_l2:
    func: !!python/name:mjlab.envs.mdp.rewards.action_rate_l2 ''
    params: {}
    weight: -0.1
  air_time:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.feet_air_time ''
    params:
      sensor_name: feet_ground_contact
      threshold_min: 0.05
      threshold_max: 0.5
      command_name: twist
      command_threshold: 0.5
    weight: 0.0
  foot_clearance:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.feet_clearance ''
    params:
      target_height: 0.1
      height_sensor_name: foot_height_scan
      command_name: twist
      command_threshold: 0.05
      asset_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: null
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: !!python/tuple
        - FR
        - FL
        - RR
        - RL
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: -2.0
  foot_swing_height:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.feet_swing_height ''
    params:
      sensor_name: feet_ground_contact
      height_sensor_name: foot_height_scan
      target_height: 0.1
      command_name: twist
      command_threshold: 0.05
    weight: -0.25
  foot_slip:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.feet_slip ''
    params:
      sensor_name: feet_ground_contact
      command_name: twist
      command_threshold: 0.05
      asset_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        geom_names: null
        geom_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        site_names: !!python/tuple
        - FR
        - FL
        - RR
        - RL
        site_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        actuator_names: null
        actuator_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        tendon_names: null
        tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        camera_names: null
        camera_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        light_names: null
        light_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        material_names: null
        material_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        pair_names: null
        pair_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: -0.1
  soft_landing:
    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.soft_landing ''
    params:
      sensor_name: feet_ground_contact
      command_name: twist
      command_threshold: 0.05
    weight: -1.0e-05
  self_collisions:
    func: &id009 !!python/name:mjlab.tasks.velocity.mdp.rewards.self_collision_cost ''
    params:
      sensor_name: self_collision
    weight: -0.1
  shank_collision:
    func: *id009
    params:
      sensor_name: shank_ground_touch
    weight: -0.1
  trunk_head_collision:
    func: *id009
    params:
      sensor_name: trunk_ground_touch
    weight: -0.1
terminations:
  time_out:
    func: !!python/name:mjlab.envs.mdp.terminations.time_out ''
    params: {}
    time_out: true
  out_of_terrain_bounds:
    func: !!python/name:mjlab.tasks.velocity.mdp.terminations.out_of_terrain_bounds ''
    params: {}
    time_out: true
  illegal_contact:
    func: !!python/name:mjlab.tasks.velocity.mdp.terminations.illegal_contact ''
    params:
      sensor_name: thigh_ground_touch
    time_out: false
commands:
  twist:
    resampling_time_range: !!python/tuple
    - 3.0
    - 8.0
    debug_vis: true
    entity_name: robot
    heading_command: true
    heading_control_stiffness: 0.5
    rel_standing_envs: 0.1
    rel_heading_envs: 0.3
    rel_world_envs: 0.0
    rel_forward_envs: 0.2
    init_velocity_prob: 0.0
    ranges:
      lin_vel_x: !!python/tuple
      - -1.0
      - 1.0
      lin_vel_y: !!python/tuple
      - -1.0
      - 1.0
      ang_vel_z: !!python/tuple
      - -0.5
      - 0.5
      heading: !!python/tuple
      - -3.141592653589793
      - 3.141592653589793
    viz:
      z_offset: 0.2
      scale: 0.5
curriculum:
  terrain_levels:
    func: !!python/name:mjlab.tasks.velocity.mdp.curriculums.terrain_levels_vel ''
    params:
      command_name: twist
  command_vel:
    func: !!python/name:mjlab.tasks.velocity.mdp.curriculums.commands_vel ''
    params:
      command_name: twist
      velocity_stages:
      - step: 0
        lin_vel_x: !!python/tuple
        - -1.0
        - 1.0
        ang_vel_z: !!python/tuple
        - -0.5
        - 0.5
      - step: 120000
        lin_vel_x: !!python/tuple
        - -1.5
        - 2.0
        ang_vel_z: !!python/tuple
        - -0.7
        - 0.7
      - step: 240000
        lin_vel_x: !!python/tuple
        - -2.0
        - 3.0
metrics:
  mean_action_acc:
    func: !!python/name:mjlab.envs.mdp.metrics.mean_action_acc ''
    params: {}
    per_substep: false
    reduce: mean
recorders: {}
is_finite_horizon: false
auto_reset: true
scale_rewards_by_dt: true