cmvr_ai_lab/outputs/2026-07-09/18-09-00/.hydra/config.yaml

env:
  viewer:
    eye:
    - 7.5
    - 7.5
    - 7.5
    lookat:
    - 0.0
    - 0.0
    - 0.0
    cam_prim_path: /OmniverseKit_Persp
    resolution:
    - 1280
    - 720
    origin_type: world
    env_index: 0
    asset_name: null
    body_name: null
  sim:
    physics_prim_path: /physicsScene
    device: cuda:0
    dt: 0.002
    render_interval: 5
    gravity:
    - 0.0
    - 0.0
    - -9.81
    enable_scene_query_support: false
    use_fabric: true
    physx:
      solver_type: 1
      solve_articulation_contact_last: false
      min_position_iteration_count: 1
      max_position_iteration_count: 255
      min_velocity_iteration_count: 0
      max_velocity_iteration_count: 255
      enable_ccd: false
      enable_stabilization: false
      enable_external_forces_every_iteration: false
      enable_enhanced_determinism: false
      bounce_threshold_velocity: 0.5
      friction_offset_threshold: 0.04
      friction_correlation_distance: 0.025
      gpu_max_rigid_contact_count: 8388608
      gpu_max_rigid_patch_count: 327680
      gpu_found_lost_pairs_capacity: 2097152
      gpu_found_lost_aggregate_pairs_capacity: 33554432
      gpu_total_aggregate_pairs_capacity: 2097152
      gpu_collision_stack_size: 67108864
      gpu_heap_capacity: 67108864
      gpu_temp_buffer_capacity: 16777216
      gpu_max_num_partitions: 8
      gpu_max_soft_body_contacts: 1048576
      gpu_max_particle_contacts: 1048576
    physics_material:
      func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
      static_friction: 1.0
      dynamic_friction: 1.0
      restitution: 0.0
      friction_combine_mode: multiply
      restitution_combine_mode: multiply
      compliant_contact_stiffness: 0.0
      compliant_contact_damping: 0.0
    render:
      enable_translucency: null
      enable_reflections: null
      enable_global_illumination: null
      antialiasing_mode: null
      enable_dlssg: null
      enable_dl_denoiser: null
      dlss_mode: null
      enable_direct_lighting: null
      samples_per_pixel: null
      enable_shadows: null
      enable_ambient_occlusion: null
      dome_light_upper_lower_strategy: null
      carb_settings: null
      rendering_mode: null
    create_stage_in_memory: false
    logging_level: WARNING
    save_logs_to_file: true
    log_dir: null
  ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
  seed: null
  decimation: 5
  scene:
    num_envs: 4096
    env_spacing: 3.0
    lazy_sensor_update: true
    replicate_physics: true
    filter_collisions: true
    clone_in_fabric: false
    robot:
      class_type: isaaclab.assets.articulation.articulation:Articulation
      prim_path: '{ENV_REGEX_NS}/Robot'
      spawn:
        asset_path: /home/xtkuang/Projects/cmvr/RL/engineai_amp/source/gen2_lab/assets/robot.urdf
        usd_dir: null
        usd_file_name: null
        force_usd_conversion: false
        make_instanceable: true
        fix_base: false
        root_link_name: null
        link_density: 0.0
        merge_fixed_joints: true
        convert_mimic_joints_to_normal_joints: false
        joint_drive:
          drive_type: force
          target_type: position
          gains:
            stiffness: 0
            damping: 0
        collider_type: convex_hull
        self_collision: false
        replace_cylinders_with_capsules: true
        collision_from_visuals: false
        func: isaaclab.sim.spawners.from_files.from_files:spawn_from_urdf
        visible: true
        semantic_tags: null
        copy_from_source: true
        mass_props: null
        deformable_props: null
        rigid_props:
          rigid_body_enabled: null
          kinematic_enabled: null
          disable_gravity: false
          linear_damping: 0.0
          angular_damping: 0.0
          max_linear_velocity: 1000.0
          max_angular_velocity: 1000.0
          max_depenetration_velocity: 1.0
          max_contact_impulse: null
          enable_gyroscopic_forces: null
          retain_accelerations: false
          solver_position_iteration_count: null
          solver_velocity_iteration_count: null
          sleep_threshold: null
          stabilization_threshold: null
        collision_props: null
        activate_contact_sensors: true
        scale: null
        articulation_props:
          articulation_enabled: null
          enabled_self_collisions: true
          solver_position_iteration_count: 8
          solver_velocity_iteration_count: 4
          sleep_threshold: null
          stabilization_threshold: null
          fix_root_link: null
        fixed_tendons_props: null
        spatial_tendons_props: null
        joint_drive_props: null
        visual_material_path: material
        visual_material: null
      init_state:
        pos:
        - 0.0
        - 0.0
        - 1.25
        rot:
        - 1.0
        - 0.0
        - 0.0
        - 0.0
        lin_vel:
        - 0.0
        - 0.0
        - 0.0
        ang_vel:
        - 0.0
        - 0.0
        - 0.0
        joint_pos:
          left_leg_J1: 0.0
          left_leg_J2: 0.0
          left_leg_J3: 0.0
          left_leg_J4: 0.18
          left_leg_J5: -0.09
          left_leg_J6: 0.0
          right_leg_J1: 0.0
          right_leg_J2: 0.0
          right_leg_J3: 0.0
          right_leg_J4: -0.18
          right_leg_J5: 0.09
          right_leg_J6: 0.0
          waist_J1: 0.0
          waist_J2: 0.0
          left_arm_J1: 0.0
          left_arm_J2: 0.0
          left_arm_J3: 0.0
          left_arm_J4: 0.25
          left_arm_J5: 0.0
          left_arm_J6: 0.0
          left_arm_J7: 0.0
          right_arm_J1: 0.0
          right_arm_J2: 0.0
          right_arm_J3: 0.0
          right_arm_J4: -0.25
          right_arm_J5: 0.0
          right_arm_J6: 0.0
          right_arm_J7: 0.0
        joint_vel:
          .*: 0.0
      collision_group: 0
      debug_vis: false
      articulation_root_prim_path: null
      soft_joint_pos_limit_factor: 0.9
      actuators:
        body:
          class_type: engineai_lab.robots.actuator:DelayedImplicitActuator
          joint_names_expr:
          - .*
          effort_limit:
            .*_leg_J1: 320.0
            .*_leg_J2: 320.0
            .*_leg_J3: 120.0
            .*_leg_J4: 450.0
            .*_leg_J5: 120.0
            .*_leg_J6: 120.0
            waist_J.*: 182.0
            .*_arm_J1: 182.0
            .*_arm_J2: 182.0
            .*_arm_J3: 134.0
            .*_arm_J4: 66.0
            .*_arm_J5: 25.0
            .*_arm_J6: 25.0
            .*_arm_J7: 25.0
          velocity_limit:
            .*_leg_J1: 26.3
            .*_leg_J2: 26.3
            .*_leg_J3: 35.2
            .*_leg_J4: 26.3
            .*_leg_J5: 35.2
            .*_leg_J6: 35.2
            waist_J.*: 35.2
            .*_arm_J.*: 35.2
          effort_limit_sim:
            .*_leg_J1: 320.0
            .*_leg_J2: 320.0
            .*_leg_J3: 120.0
            .*_leg_J4: 450.0
            .*_leg_J5: 120.0
            .*_leg_J6: 120.0
            waist_J.*: 182.0
            .*_arm_J1: 182.0
            .*_arm_J2: 182.0
            .*_arm_J3: 134.0
            .*_arm_J4: 66.0
            .*_arm_J5: 25.0
            .*_arm_J6: 25.0
            .*_arm_J7: 25.0
          velocity_limit_sim:
            .*_leg_J1: 26.3
            .*_leg_J2: 26.3
            .*_leg_J3: 35.2
            .*_leg_J4: 26.3
            .*_leg_J5: 35.2
            .*_leg_J6: 35.2
            waist_J.*: 35.2
            .*_arm_J.*: 35.2
          stiffness:
            .*_leg_J1: 180.0
            .*_leg_J2: 160.0
            .*_leg_J3: 90.0
            .*_leg_J4: 220.0
            .*_leg_J5: 55.0
            .*_leg_J6: 55.0
            waist_J.*: 80.0
            .*_arm_J1: 50.0
            .*_arm_J2: 50.0
            .*_arm_J3: 45.0
            .*_arm_J4: 35.0
            .*_arm_J5: 30.0
            .*_arm_J6: 20.0
            .*_arm_J7: 20.0
          damping:
            .*_leg_J1: 6.0
            .*_leg_J2: 5.0
            .*_leg_J3: 4.0
            .*_leg_J4: 7.0
            .*_leg_J5: 1.0
            .*_leg_J6: 1.0
            waist_J.*: 4.0
            .*_arm_J1: 0.8
            .*_arm_J2: 0.8
            .*_arm_J3: 0.8
            .*_arm_J4: 0.6
            .*_arm_J5: 0.5
            .*_arm_J6: 0.4
            .*_arm_J7: 0.4
          armature: null
          friction: null
          dynamic_friction: null
          viscous_friction: null
          min_delay: 2
          max_delay: 8
      actuator_value_resolution_debug_print: false
    terrain:
      class_type: isaaclab.terrains.terrain_importer:TerrainImporter
      collision_group: -1
      prim_path: /World/ground
      num_envs: 1
      terrain_type: generator
      terrain_generator:
        class_type: isaaclab.terrains.terrain_generator:TerrainGenerator
        seed: null
        curriculum: true
        size:
        - 8.0
        - 8.0
        border_width: 25.0
        border_height: 1.0
        num_rows: 10
        num_cols: 20
        color_scheme: height
        horizontal_scale: 0.1
        vertical_scale: 0.005
        slope_threshold: 0.75
        sub_terrains:
          flat:
            function: isaaclab.terrains.height_field.hf_terrains:pyramid_sloped_terrain
            proportion: 0.4
            size:
            - 10.0
            - 10.0
            flat_patch_sampling: null
            border_width: 0.0
            horizontal_scale: 0.1
            vertical_scale: 0.005
            slope_threshold: null
            slope_range:
            - 0.0
            - 0.0
            platform_width: 8.0
            inverted: false
          slope_up:
            function: isaaclab.terrains.height_field.hf_terrains:pyramid_sloped_terrain
            proportion: 0.1
            size:
            - 10.0
            - 10.0
            flat_patch_sampling: null
            border_width: 0.0
            horizontal_scale: 0.1
            vertical_scale: 0.005
            slope_threshold: null
            slope_range:
            - 0.0
            - 0.08726646259971647
            platform_width: 2.0
            inverted: false
          slope_down:
            function: isaaclab.terrains.height_field.hf_terrains:pyramid_sloped_terrain
            proportion: 0.1
            size:
            - 10.0
            - 10.0
            flat_patch_sampling: null
            border_width: 0.0
            horizontal_scale: 0.1
            vertical_scale: 0.005
            slope_threshold: null
            slope_range:
            - 0.0
            - 0.08726646259971647
            platform_width: 2.0
            inverted: true
          obstacles:
            function: isaaclab.terrains.height_field.hf_terrains:discrete_obstacles_terrain
            proportion: 0.2
            size:
            - 10.0
            - 10.0
            flat_patch_sampling: null
            border_width: 0.0
            horizontal_scale: 0.1
            vertical_scale: 0.005
            slope_threshold: null
            obstacle_height_mode: choice
            obstacle_width_range:
            - 1.0
            - 2.0
            obstacle_height_range:
            - 0.01
            - 0.1
            num_obstacles: 15
            platform_width: 3.0
          rough_terrain:
            function: isaaclab.terrains.height_field.hf_terrains:random_uniform_terrain
            proportion: 0.2
            size:
            - 10.0
            - 10.0
            flat_patch_sampling: null
            border_width: 0.0
            horizontal_scale: 0.1
            vertical_scale: 0.005
            slope_threshold: null
            noise_range:
            - -0.015
            - 0.015
            noise_step: 0.005
            downsampled_scale: 0.15
        difficulty_range:
        - 0.0
        - 1.0
        use_cache: false
        cache_dir: /tmp/isaaclab/terrains
      usd_path: null
      env_spacing: null
      use_terrain_origins: true
      visual_material:
        func: isaaclab.sim.spawners.materials.visual_materials:spawn_from_mdl_file
        mdl_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl
        project_uvw: true
        albedo_brightness: null
        texture_scale:
        - 0.25
        - 0.25
      physics_material:
        func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
        static_friction: 1.0
        dynamic_friction: 1.0
        restitution: 0.0
        friction_combine_mode: multiply
        restitution_combine_mode: multiply
        compliant_contact_stiffness: 0.0
        compliant_contact_damping: 0.0
      max_init_terrain_level: 5
      debug_vis: false
    height_scanner:
      class_type: isaaclab.sensors.ray_caster.ray_caster:RayCaster
      prim_path: '{ENV_REGEX_NS}/Robot/body_link'
      update_period: 0.01
      history_length: 0
      debug_vis: false
      mesh_prim_paths:
      - /World/ground
      offset:
        pos:
        - 0.0
        - 0.0
        - 20.0
        rot:
        - 1.0
        - 0.0
        - 0.0
        - 0.0
      attach_yaw_only: null
      ray_alignment: yaw
      pattern_cfg:
        func: isaaclab.sensors.ray_caster.patterns.patterns:grid_pattern
        resolution: 0.1
        size:
        - 1.6
        - 1.0
        direction:
        - 0.0
        - 0.0
        - -1.0
        ordering: xy
      max_distance: 1000000.0
      drift_range:
      - 0.0
      - 0.0
      ray_cast_drift_range:
        x:
        - 0.0
        - 0.0
        'y':
        - 0.0
        - 0.0
        z:
        - 0.0
        - 0.0
      visualizer_cfg:
        prim_path: /Visuals/RayCaster
        markers:
          hit:
            func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
            visible: true
            semantic_tags: null
            copy_from_source: true
            mass_props: null
            rigid_props: null
            collision_props: null
            activate_contact_sensors: false
            visual_material_path: material
            visual_material:
              func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
              diffuse_color:
              - 1.0
              - 0.0
              - 0.0
              emissive_color:
              - 0.0
              - 0.0
              - 0.0
              roughness: 0.5
              metallic: 0.0
              opacity: 1.0
            physics_material_path: material
            physics_material: null
            radius: 0.02
    contact_forces:
      class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
      prim_path: '{ENV_REGEX_NS}/Robot/.*'
      update_period: 0.005
      history_length: 3
      debug_vis: false
      track_pose: false
      track_contact_points: false
      track_friction_forces: false
      max_contact_data_count_per_prim: 4
      track_air_time: true
      force_threshold: 1.0
      filter_prim_paths_expr: []
      visualizer_cfg:
        prim_path: /Visuals/ContactSensor
        markers:
          contact:
            func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
            visible: true
            semantic_tags: null
            copy_from_source: true
            mass_props: null
            rigid_props: null
            collision_props: null
            activate_contact_sensors: false
            visual_material_path: material
            visual_material:
              func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
              diffuse_color:
              - 1.0
              - 0.0
              - 0.0
              emissive_color:
              - 0.0
              - 0.0
              - 0.0
              roughness: 0.5
              metallic: 0.0
              opacity: 1.0
            physics_material_path: material
            physics_material: null
            radius: 0.02
          no_contact:
            func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
            visible: false
            semantic_tags: null
            copy_from_source: true
            mass_props: null
            rigid_props: null
            collision_props: null
            activate_contact_sensors: false
            visual_material_path: material
            visual_material:
              func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
              diffuse_color:
              - 0.0
              - 1.0
              - 0.0
              emissive_color:
              - 0.0
              - 0.0
              - 0.0
              roughness: 0.5
              metallic: 0.0
              opacity: 1.0
            physics_material_path: material
            physics_material: null
            radius: 0.02
    sky_light:
      class_type: null
      prim_path: /World/skyLight
      spawn:
        func: isaaclab.sim.spawners.lights.lights:spawn_light
        visible: true
        semantic_tags: null
        copy_from_source: true
        prim_type: DomeLight
        color:
        - 1.0
        - 1.0
        - 1.0
        enable_color_temperature: false
        color_temperature: 6500.0
        normalize: false
        exposure: 0.0
        intensity: 750.0
        texture_file: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Materials/Textures/Skies/PolyHaven/kloofendal_43d_clear_puresky_4k.hdr
        texture_format: automatic
        visible_in_primary_ray: true
      init_state:
        pos:
        - 0.0
        - 0.0
        - 0.0
        rot:
        - 1.0
        - 0.0
        - 0.0
        - 0.0
      collision_group: 0
      debug_vis: false
  recorders:
    dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
    dataset_export_dir_path: /tmp/isaaclab/logs
    dataset_filename: dataset
    dataset_export_mode:
      _value_: 1
      _name_: EXPORT_ALL
      _sort_order_: 1
    export_in_record_pre_reset: true
    export_in_close: false
  observations:
    policy:
      concatenate_terms: true
      concatenate_dim: -1
      enable_corruption: true
      history_length: null
      flatten_history_dim: true
      joint_pos:
        func: isaaclab.envs.mdp.observations:joint_pos_rel
        params:
          asset_cfg:
            name: robot
            joint_names:
            - left_leg_J1
            - left_leg_J2
            - left_leg_J3
            - left_leg_J4
            - left_leg_J5
            - left_leg_J6
            - right_leg_J1
            - right_leg_J2
            - right_leg_J3
            - right_leg_J4
            - right_leg_J5
            - right_leg_J6
            - waist_J1
            - waist_J2
            - left_arm_J1
            - left_arm_J2
            - left_arm_J3
            - left_arm_J4
            - left_arm_J5
            - left_arm_J6
            - left_arm_J7
            - right_arm_J1
            - right_arm_J2
            - right_arm_J3
            - right_arm_J4
            - right_arm_J5
            - right_arm_J6
            - right_arm_J7
            joint_ids: slice(None,None,None)
            fixed_tendon_names: null
            fixed_tendon_ids: slice(None,None,None)
            body_names: null
            body_ids: slice(None,None,None)
            object_collection_names: null
            object_collection_ids: slice(None,None,None)
            preserve_order: true
        modifiers: null
        noise:
          func: isaaclab.utils.noise.noise_model:uniform_noise
          operation: add
          n_min: -0.01
          n_max: 0.01
        clip: null
        scale: null
        history_length: 15
        flatten_history_dim: true
      joint_vel:
        func: isaaclab.envs.mdp.observations:joint_vel_rel
        params:
          asset_cfg:
            name: robot
            joint_names:
            - left_leg_J1
            - left_leg_J2
            - left_leg_J3
            - left_leg_J4
            - left_leg_J5
            - left_leg_J6
            - right_leg_J1
            - right_leg_J2
            - right_leg_J3
            - right_leg_J4
            - right_leg_J5
            - right_leg_J6
            - waist_J1
            - waist_J2
            - left_arm_J1
            - left_arm_J2
            - left_arm_J3
            - left_arm_J4
            - left_arm_J5
            - left_arm_J6
            - left_arm_J7
            - right_arm_J1
            - right_arm_J2
            - right_arm_J3
            - right_arm_J4
            - right_arm_J5
            - right_arm_J6
            - right_arm_J7
            joint_ids: slice(None,None,None)
            fixed_tendon_names: null
            fixed_tendon_ids: slice(None,None,None)
            body_names: null
            body_ids: slice(None,None,None)
            object_collection_names: null
            object_collection_ids: slice(None,None,None)
            preserve_order: true
        modifiers: null
        noise:
          func: isaaclab.utils.noise.noise_model:uniform_noise
          operation: add
          n_min: -1.5
          n_max: 1.5
        clip: null
        scale: null
        history_length: 15
        flatten_history_dim: true
      actions:
        func: isaaclab.envs.mdp.observations:last_action
        params: {}
        modifiers: null
        noise: null
        clip: null
        scale: null
        history_length: 15
        flatten_history_dim: true
      base_ang_vel:
        func: isaaclab.envs.mdp.observations:base_ang_vel
        params: {}
        modifiers: null
        noise:
          func: isaaclab.utils.noise.noise_model:uniform_noise
          operation: add
          n_min: -0.2
          n_max: 0.2
        clip: null
        scale: null
        history_length: 15
        flatten_history_dim: true
      projected_gravity:
        func: isaaclab.envs.mdp.observations:projected_gravity
        params: {}
        modifiers: null
        noise:
          func: isaaclab.utils.noise.noise_model:uniform_noise
          operation: add
          n_min: -0.05
          n_max: 0.05
        clip: null
        scale: null
        history_length: 15
        flatten_history_dim: true
      velocity_commands:
        func: isaaclab.envs.mdp.observations:generated_commands
        params:
          command_name: base_velocity
        modifiers: null
        noise: null
        clip: null
        scale: null
        history_length: 0
        flatten_history_dim: true
    critic:
      concatenate_terms: true
      concatenate_dim: -1
      enable_corruption: true
      history_length: null
      flatten_history_dim: true
      joint_pos:
        func: isaaclab.envs.mdp.observations:joint_pos_rel
        params:
          asset_cfg:
            name: robot
            joint_names:
            - left_leg_J1
            - left_leg_J2
            - left_leg_J3
            - left_leg_J4
            - left_leg_J5
            - left_leg_J6
            - right_leg_J1
            - right_leg_J2
            - right_leg_J3
            - right_leg_J4
            - right_leg_J5
            - right_leg_J6
            - waist_J1
            - waist_J2
            - left_arm_J1
            - left_arm_J2
            - left_arm_J3
            - left_arm_J4
            - left_arm_J5
            - left_arm_J6
            - left_arm_J7
            - right_arm_J1
            - right_arm_J2
            - right_arm_J3
            - right_arm_J4
            - right_arm_J5
            - right_arm_J6
            - right_arm_J7
            joint_ids: slice(None,None,None)
            fixed_tendon_names: null
            fixed_tendon_ids: slice(None,None,None)
            body_names: null
            body_ids: slice(None,None,None)
            object_collection_names: null
            object_collection_ids: slice(None,None,None)
            preserve_order: true
        modifiers: null
        noise:
          func: isaaclab.utils.noise.noise_model:uniform_noise
          operation: add
          n_min: -0.01
          n_max: 0.01
        clip: null
        scale: null
        history_length: 15
        flatten_history_dim: true
      joint_vel:
        func: isaaclab.envs.mdp.observations:joint_vel_rel
        params:
          asset_cfg:
            name: robot
            joint_names:
            - left_leg_J1
            - left_leg_J2
            - left_leg_J3
            - left_leg_J4
            - left_leg_J5
            - left_leg_J6
            - right_leg_J1
            - right_leg_J2
            - right_leg_J3
            - right_leg_J4
            - right_leg_J5
            - right_leg_J6
            - waist_J1
            - waist_J2
            - left_arm_J1
            - left_arm_J2
            - left_arm_J3
            - left_arm_J4
            - left_arm_J5
            - left_arm_J6
            - left_arm_J7
            - right_arm_J1
            - right_arm_J2
            - right_arm_J3
            - right_arm_J4
            - right_arm_J5
            - right_arm_J6
            - right_arm_J7
            joint_ids: slice(None,None,None)
            fixed_tendon_names: null
            fixed_tendon_ids: slice(None,None,None)
            body_names: null
            body_ids: slice(None,None,None)
            object_collection_names: null
            object_collection_ids: slice(None,None,None)
            preserve_order: true
        modifiers: null
        noise:
          func: isaaclab.utils.noise.noise_model:uniform_noise
          operation: add
          n_min: -1.5
          n_max: 1.5
        clip: null
        scale: null
        history_length: 15
        flatten_history_dim: true
      actions:
        func: isaaclab.envs.mdp.observations:last_action
        params: {}
        modifiers: null
        noise: null
        clip: null
        scale: null
        history_length: 15
        flatten_history_dim: true
      base_ang_vel:
        func: isaaclab.envs.mdp.observations:base_ang_vel
        params: {}
        modifiers: null
        noise:
          func: isaaclab.utils.noise.noise_model:uniform_noise
          operation: add
          n_min: -0.2
          n_max: 0.2
        clip: null
        scale: null
        history_length: 15
        flatten_history_dim: true
      projected_gravity:
        func: isaaclab.envs.mdp.observations:projected_gravity
        params: {}
        modifiers: null
        noise:
          func: isaaclab.utils.noise.noise_model:uniform_noise
          operation: add
          n_min: -0.05
          n_max: 0.05
        clip: null
        scale: null
        history_length: 15
        flatten_history_dim: true
      velocity_commands:
        func: isaaclab.envs.mdp.observations:generated_commands
        params:
          command_name: base_velocity
        modifiers: null
        noise: null
        clip: null
        scale: null
        history_length: 0
        flatten_history_dim: true
  actions:
    joint_pos:
      class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
      asset_name: robot
      debug_vis: false
      clip: null
      joint_names:
      - left_leg_J1
      - left_leg_J2
      - left_leg_J3
      - left_leg_J4
      - left_leg_J5
      - left_leg_J6
      - right_leg_J1
      - right_leg_J2
      - right_leg_J3
      - right_leg_J4
      - right_leg_J5
      - right_leg_J6
      - waist_J1
      - waist_J2
      - left_arm_J1
      - left_arm_J2
      - left_arm_J3
      - left_arm_J4
      - left_arm_J5
      - left_arm_J6
      - left_arm_J7
      - right_arm_J1
      - right_arm_J2
      - right_arm_J3
      - right_arm_J4
      - right_arm_J5
      - right_arm_J6
      - right_arm_J7
      scale:
        .*_leg_J1: 0.5
        .*_leg_J2: 0.2
        .*_leg_J3: 0.2
        .*_leg_J4: 0.5
        .*_leg_J5: 0.5
        .*_leg_J6: 0.2
        waist_J.*: 0.2
        .*_arm_J1: 0.2
        .*_arm_J2: 0.2
        .*_arm_J3: 0.2
        .*_arm_J4: 0.2
        .*_arm_J5: 0.15
        .*_arm_J6: 0.15
        .*_arm_J7: 0.15
      offset: 0.0
      preserve_order: true
      use_default_offset: true
  events:
    physics_material:
      func: isaaclab.envs.mdp.events:randomize_rigid_body_material
      params:
        asset_cfg:
          name: robot
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: .*
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        static_friction_range:
        - 0.3
        - 1.6
        dynamic_friction_range:
        - 0.3
        - 1.2
        restitution_range:
        - 0.0
        - 0.5
        num_buckets: 64
      mode: startup
      interval_range_s: null
      is_global_time: false
      min_step_count_between_reset: 0
    add_joint_default_pos:
      func: engineai_lab.tasks.velocity.mdp.events:randomize_joint_default_pos
      params:
        asset_cfg:
          name: robot
          joint_names:
          - left_leg_J1
          - left_leg_J2
          - left_leg_J3
          - left_leg_J4
          - left_leg_J5
          - left_leg_J6
          - right_leg_J1
          - right_leg_J2
          - right_leg_J3
          - right_leg_J4
          - right_leg_J5
          - right_leg_J6
          - waist_J1
          - waist_J2
          - left_arm_J1
          - left_arm_J2
          - left_arm_J3
          - left_arm_J4
          - left_arm_J5
          - left_arm_J6
          - left_arm_J7
          - right_arm_J1
          - right_arm_J2
          - right_arm_J3
          - right_arm_J4
          - right_arm_J5
          - right_arm_J6
          - right_arm_J7
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: null
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: true
        pos_distribution_params:
        - -0.01
        - 0.01
        operation: add
      mode: startup
      interval_range_s: null
      is_global_time: false
      min_step_count_between_reset: 0
    base_com:
      func: isaaclab.envs.mdp.events:randomize_rigid_body_com
      params:
        asset_cfg:
          name: robot
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: body_link
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        com_range:
          x:
          - -0.03
          - 0.03
          'y':
          - -0.06
          - 0.06
          z:
          - -0.06
          - 0.06
      mode: startup
      interval_range_s: null
      is_global_time: false
      min_step_count_between_reset: 0
    push_robot:
      func: isaaclab.envs.mdp.events:push_by_setting_velocity
      params:
        velocity_range:
          x:
          - -0.3
          - 0.3
          'y':
          - -0.3
          - 0.3
          z:
          - -0.15
          - 0.15
          roll:
          - -0.35
          - 0.35
          pitch:
          - -0.35
          - 0.35
          yaw:
          - -0.52
          - 0.52
      mode: interval
      interval_range_s:
      - 1.0
      - 3.0
      is_global_time: false
      min_step_count_between_reset: 0
    reset_base:
      func: isaaclab.envs.mdp.events:reset_root_state_uniform
      params:
        pose_range:
          x:
          - -0.5
          - 0.5
          'y':
          - -0.5
          - 0.5
          yaw:
          - -3.14
          - 3.14
        velocity_range:
          x:
          - 0.0
          - 0.0
          'y':
          - 0.0
          - 0.0
          z:
          - 0.0
          - 0.0
          roll:
          - 0.0
          - 0.0
          pitch:
          - 0.0
          - 0.0
          yaw:
          - 0.0
          - 0.0
      mode: reset
      interval_range_s: null
      is_global_time: false
      min_step_count_between_reset: 0
    reset_robot_joints:
      func: isaaclab.envs.mdp.events:reset_joints_by_scale
      params:
        position_range:
        - 0.8
        - 1.2
        velocity_range:
        - -0.5
        - 0.5
      mode: reset
      interval_range_s: null
      is_global_time: false
      min_step_count_between_reset: 0
  rerender_on_reset: false
  num_rerenders_on_reset: 0
  wait_for_textures: true
  xr: null
  teleop_devices:
    devices: {}
  export_io_descriptors: false
  log_dir: null
  is_finite_horizon: false
  episode_length_s: 20.0
  rewards:
    track_lin_vel_xy_exp:
      func: engineai_lab.tasks.velocity.mdp.rewards:track_lin_vel_xy_yaw_frame_exp
      params:
        command_name: base_velocity
        sigma: 5
      weight: 2.0
    track_ang_vel_z_exp:
      func: engineai_lab.tasks.velocity.mdp.rewards:track_ang_vel_z_world_exp
      params:
        command_name: base_velocity
        sigma: 5
      weight: 2.5
    base_orientation:
      func: engineai_lab.tasks.velocity.mdp.rewards:base_orientation
      params: {}
      weight: 1.0
    base_height:
      func: engineai_lab.tasks.velocity.mdp.rewards:base_height_tracking
      params:
        target_height: 1.25
      weight: 0.4
    foot_position:
      func: engineai_lab.tasks.velocity.mdp.rewards:feet_position
      params:
        asset_cfg:
          name: robot
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names:
          - left_leg_link_6
          - right_leg_link_6
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        command_name: base_velocity
        stand_threshold: 0.1
        ankle_distance: 0.24
        base_height_target: 1.25
      weight: 0.5
    feet_orientation:
      func: engineai_lab.tasks.velocity.mdp.rewards:feet_orientation
      params:
        asset_cfg:
          name: robot
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names:
          - left_leg_link_6
          - right_leg_link_6
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        command_name: base_velocity
        stand_threshold: 0.1
      weight: 0.25
    waist_pos:
      func: engineai_lab.tasks.velocity.mdp.rewards:joint_deviation_exp
      params:
        asset_cfg:
          name: robot
          joint_names:
          - waist_J1
          - waist_J2
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: null
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        scale: 3.0
        tolerance: 0.0
      weight: 0.3
    leg_joint_position:
      func: engineai_lab.tasks.velocity.mdp.rewards:joint_deviation_exp
      params:
        asset_cfg:
          name: robot
          joint_names:
          - .*_leg_J2
          - .*_leg_J3
          - .*_leg_J6
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: null
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        scale: 3.0
      weight: 0.3
    arm_primary_position:
      func: engineai_lab.tasks.velocity.mdp.rewards:joint_deviation_exp
      params:
        asset_cfg:
          name: robot
          joint_names:
          - .*_arm_J1
          - .*_arm_J2
          - .*_arm_J3
          - .*_arm_J4
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: null
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        scale: 3.0
      weight: 0.3
    arm_distal_position:
      func: engineai_lab.tasks.velocity.mdp.rewards:joint_deviation_exp
      params:
        asset_cfg:
          name: robot
          joint_names:
          - .*_arm_J5
          - .*_arm_J6
          - .*_arm_J7
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: null
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        scale: 8.0
      weight: 0.3
    feet_contact:
      func: engineai_lab.tasks.velocity.mdp.rewards:feet_contact_fixed
      params:
        sensor_cfg:
          name: contact_forces
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names:
          - left_leg_link_6
          - right_leg_link_6
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        command_name: base_velocity
        stand_threshold: 0.1
        force_threshold: 5.0
      weight: 0.25
    feet_air_time:
      func: isaaclab_tasks.manager_based.locomotion.velocity.mdp.rewards:feet_air_time
      params:
        command_name: base_velocity
        sensor_cfg:
          name: contact_forces
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names:
          - left_leg_link_6
          - right_leg_link_6
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        threshold: 0.5
      weight: 10.0
    feet_air_time_dense:
      func: isaaclab_tasks.manager_based.locomotion.velocity.mdp.rewards:feet_air_time_positive_biped
      params:
        command_name: base_velocity
        sensor_cfg:
          name: contact_forces
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names:
          - left_leg_link_6
          - right_leg_link_6
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        threshold: 0.5
      weight: 1.25
    foot_stumble:
      func: engineai_lab.tasks.velocity.mdp.rewards:feet_stumble
      params:
        sensor_cfg:
          name: contact_forces
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names:
          - left_leg_link_6
          - right_leg_link_6
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        tangential_threshold: 2.0
        normal_threshold: 1.0
      weight: -1.0
    dof_pos_limits:
      func: isaaclab.envs.mdp.rewards:joint_pos_limits
      params:
        asset_cfg:
          name: robot
          joint_names: .*
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: null
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
      weight: -10.0
    energy_cost:
      func: engineai_lab.tasks.velocity.mdp.rewards:energy_cost_with_curriculum
      params:
        asset_cfg:
          name: robot
          joint_names:
          - .*
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: null
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        start_scale: 0.1
        power: 0.8
        interval_epochs: 4800
      weight: -0.004
    feet_slide:
      func: isaaclab_tasks.manager_based.locomotion.velocity.mdp.rewards:feet_slide
      params:
        sensor_cfg:
          name: contact_forces
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names:
          - left_leg_link_6
          - right_leg_link_6
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        asset_cfg:
          name: robot
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names:
          - left_leg_link_6
          - right_leg_link_6
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
      weight: -0.25
    dof_vel:
      func: isaaclab.envs.mdp.rewards:joint_vel_l2
      params:
        asset_cfg:
          name: robot
          joint_names:
          - .*
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: null
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
      weight: -1.0e-05
    dof_acc:
      func: isaaclab.envs.mdp.rewards:joint_acc_l2
      params:
        asset_cfg:
          name: robot
          joint_names:
          - .*
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: null
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
      weight: -1.25e-08
    action_rate:
      func: engineai_lab.tasks.velocity.mdp.rewards:action_rate_with_curriculum
      params:
        start_scale: 0.1
        power: 0.8
        interval_epochs: 4800
      weight: -0.06
    action_smoothness:
      func: engineai_lab.tasks.velocity.mdp.rewards:action_smoothness_with_curriculum
      params:
        start_scale: 0.1
        power: 0.8
        interval_epochs: 4800
      weight: -0.04
    dof_torque:
      func: isaaclab.envs.mdp.rewards:joint_torques_l2
      params:
        asset_cfg:
          name: robot
          joint_names:
          - .*
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names: null
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
      weight: -1.0e-06
    termination_penalty:
      func: isaaclab.envs.mdp.rewards:is_terminated
      params: {}
      weight: -200.0
  terminations:
    time_out:
      func: isaaclab.envs.mdp.terminations:time_out
      params: {}
      time_out: true
    base_contact:
      func: isaaclab.envs.mdp.terminations:illegal_contact
      params:
        sensor_cfg:
          name: contact_forces
          joint_names: null
          joint_ids: slice(None,None,None)
          fixed_tendon_names: null
          fixed_tendon_ids: slice(None,None,None)
          body_names:
          - body_link
          - waist_link_.*
          - .*_leg_link_[1-4]
          - .*_arm_link_.*
          body_ids: slice(None,None,None)
          object_collection_names: null
          object_collection_ids: slice(None,None,None)
          preserve_order: false
        threshold: 1.0
      time_out: false
  curriculum:
    terrain_levels:
      func: isaaclab_tasks.manager_based.locomotion.velocity.mdp.curriculums:terrain_levels_vel
      params: {}
  commands:
    base_velocity:
      class_type: isaaclab.envs.mdp.commands.velocity_command:UniformVelocityCommand
      resampling_time_range:
      - 7.5
      - 7.5
      debug_vis: false
      asset_name: robot
      heading_command: true
      heading_control_stiffness: 0.5
      rel_standing_envs: 0.2
      rel_heading_envs: 1.0
      ranges:
        lin_vel_x:
        - -0.2
        - 0.4
        lin_vel_y:
        - -0.2
        - 0.2
        ang_vel_z:
        - -0.5
        - 0.5
        heading:
        - -3.14
        - 3.14
      goal_vel_visualizer_cfg:
        prim_path: /Visuals/Command/velocity_goal
        markers:
          arrow:
            func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
            visible: true
            semantic_tags: null
            copy_from_source: true
            mass_props: null
            deformable_props: null
            rigid_props: null
            collision_props: null
            activate_contact_sensors: false
            scale:
            - 0.5
            - 0.5
            - 0.5
            articulation_props: null
            fixed_tendons_props: null
            spatial_tendons_props: null
            joint_drive_props: null
            visual_material_path: material
            visual_material:
              func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
              diffuse_color:
              - 0.0
              - 1.0
              - 0.0
              emissive_color:
              - 0.0
              - 0.0
              - 0.0
              roughness: 0.5
              metallic: 0.0
              opacity: 1.0
            usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/arrow_x.usd
            variants: null
      current_vel_visualizer_cfg:
        prim_path: /Visuals/Command/velocity_current
        markers:
          arrow:
            func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
            visible: true
            semantic_tags: null
            copy_from_source: true
            mass_props: null
            deformable_props: null
            rigid_props: null
            collision_props: null
            activate_contact_sensors: false
            scale:
            - 0.5
            - 0.5
            - 0.5
            articulation_props: null
            fixed_tendons_props: null
            spatial_tendons_props: null
            joint_drive_props: null
            visual_material_path: material
            visual_material:
              func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
              diffuse_color:
              - 0.0
              - 0.0
              - 1.0
              emissive_color:
              - 0.0
              - 0.0
              - 0.0
              roughness: 0.5
              metallic: 0.0
              opacity: 1.0
            usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/arrow_x.usd
            variants: null
agent:
  seed: 42
  device: cuda:0
  num_steps_per_env: 24
  max_iterations: 1500
  empirical_normalization: {}
  obs_groups:
    actor:
    - policy
    critic:
    - policy
  clip_actions: null
  check_for_nan: true
  save_interval: 50
  experiment_name: velocity_flat_terrain_gen2
  run_name: ''
  logger: tensorboard
  neptune_project: isaaclab
  wandb_project: isaaclab
  resume: false
  load_run: .*
  load_checkpoint: model_.*.pt
  class_name: OnPolicyRunner
  actor:
    class_name: MLPModel
    hidden_dims:
    - 512
    - 256
    - 128
    activation: elu
    obs_normalization: true
    distribution_cfg:
      class_name: GaussianDistribution
      init_std: 1.0
      std_type: scalar
  critic:
    class_name: MLPModel
    hidden_dims:
    - 512
    - 256
    - 128
    activation: elu
    obs_normalization: true
    distribution_cfg: null
  algorithm:
    class_name: PPO
    num_learning_epochs: 5
    num_mini_batches: 4
    learning_rate: 0.001
    schedule: adaptive
    gamma: 0.99
    lam: 0.95
    entropy_coef: 0.008
    desired_kl: 0.01
    max_grad_norm: 1.0
    optimizer: adam
    value_loss_coef: 1.0
    use_clipped_value_loss: true
    clip_param: 0.2
    normalize_advantage_per_mini_batch: false
    share_cnn_encoders: false
    rnd_cfg: null
    symmetry_cfg: null
  policy:
    actor_hidden_dims:
    - 256
    - 256
    - 128
    critic_hidden_dims:
    - 256
    - 256
    - 128