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_simplified_collision.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: false 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 - 1.282 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: 0.0 left_leg_J5: 0.0 left_leg_J6: 0.0 right_leg_J1: 0.0 right_leg_J2: 0.0 right_leg_J3: 0.0 right_leg_J4: 0.0 right_leg_J5: 0.0 right_leg_J6: 0.0 waist_J1: 0.0 waist_J2: 0.0 left_arm_J1: 0.0 left_arm_J2: 1.4835298641951802 left_arm_J3: 1.5707963267948966 left_arm_J4: 0.0 left_arm_J5: 1.5707963267948966 left_arm_J6: 0.0 left_arm_J7: 0.0 right_arm_J1: 0.0 right_arm_J2: -1.4835298641951802 right_arm_J3: -1.5707963267948966 right_arm_J4: 0.0 right_arm_J5: 1.5707963267948966 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 pelvis_ang_vel: func: engineai_lab.tasks.velocity.mdp.observations:body_ang_vel_yaw_frame 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: waist_link_2 body_ids: slice(None,None,None) object_collection_names: null object_collection_ids: slice(None,None,None) preserve_order: false heading_yaw_offset: 1.5708 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 torso_projected_gravity: func: engineai_lab.tasks.velocity.mdp.observations:body_projected_gravity 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 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 pelvis_ang_vel: func: engineai_lab.tasks.velocity.mdp.observations:body_ang_vel_yaw_frame 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: waist_link_2 body_ids: slice(None,None,None) object_collection_names: null object_collection_ids: slice(None,None,None) preserve_order: false heading_yaw_offset: 1.5708 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 torso_projected_gravity: func: engineai_lab.tasks.velocity.mdp.observations:body_projected_gravity 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 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: pelvis_track_lin_vel_xy_exp: func: engineai_lab.tasks.velocity.mdp.rewards:track_lin_vel_xy_yaw_frame_exp_body 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: waist_link_2 body_ids: slice(None,None,None) object_collection_names: null object_collection_ids: slice(None,None,None) preserve_order: false command_name: base_velocity sigma: 5 heading_yaw_offset: 1.5708 weight: 2.0 whole_body_track_ang_vel_z_exp: func: engineai_lab.tasks.velocity.mdp.rewards:track_ang_vel_z_world_exp_bodies 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: - waist_link_2 - body_link body_ids: slice(None,None,None) object_collection_names: null object_collection_ids: slice(None,None,None) preserve_order: true command_name: base_velocity sigma: 5 weight: 2.5 torso_orientation: func: engineai_lab.tasks.velocity.mdp.rewards:body_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: body_link body_ids: slice(None,None,None) object_collection_names: null object_collection_ids: slice(None,None,None) preserve_order: false scale: 10.0 weight: 0.8 pelvis_height: func: engineai_lab.tasks.velocity.mdp.rewards:body_height_tracking 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: waist_link_2 body_ids: slice(None,None,None) object_collection_names: null object_collection_ids: slice(None,None,None) preserve_order: false target_height: 0.85094 scale: 15.0 weight: 0.4 torso_height: func: engineai_lab.tasks.velocity.mdp.rewards:body_height_tracking 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 target_height: 1.27194 scale: 15.0 weight: 0.1 foot_position: func: engineai_lab.tasks.velocity.mdp.rewards:feet_position_relative_to_body 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 reference_body_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: waist_link_2 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 desired_foot_positions: - - 0.096993 - 0.120673 - -0.785934 - - 0.093994 - -0.120677 - -0.785934 heading_yaw_offset: 1.5708 weight: 0.5 feet_orientation: func: engineai_lab.tasks.velocity.mdp.rewards:feet_orientation_relative_to_body 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 reference_body_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: waist_link_2 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 heading_yaw_offset: 1.5708 foot_frame_offsets_rpy: - - 1.5708 - 1.5708 - 0.0 - - 1.5708 - 1.5708 - 0.0 weight: 0.25 torso_pelvis_yaw_alignment: func: engineai_lab.tasks.velocity.mdp.rewards:body_yaw_alignment 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 reference_body_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: waist_link_2 body_ids: slice(None,None,None) object_collection_names: null object_collection_ids: slice(None,None,None) preserve_order: false reference_heading_yaw_offset: 1.5708 scale: 4.0 weight: 0.3 torso_pelvis_yaw_rate: func: engineai_lab.tasks.velocity.mdp.rewards:body_yaw_rate_difference_l2 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 reference_body_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: waist_link_2 body_ids: slice(None,None,None) object_collection_names: null object_collection_ids: slice(None,None,None) preserve_order: false weight: -0.5 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: 0.45 waist_vel: func: isaaclab.envs.mdp.rewards:joint_vel_l2 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 weight: -0.02 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:biped_contact_mode_reward 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 force_threshold: 5.0 linear_threshold: 0.1 angular_threshold: 0.1 weight: 0.75 feet_air_time: func: engineai_lab.tasks.velocity.mdp.rewards:feet_air_time_positive_on_contact 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 min_air_time: 0.05 max_air_time: 0.25 linear_threshold: 0.1 angular_threshold: 0.1 weight: 2.0 feet_air_time_dense: func: engineai_lab.tasks.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: 0.25 linear_threshold: 0.1 angular_threshold: 0.1 weight: 2.0 swing_foot_clearance: func: engineai_lab.tasks.velocity.mdp.rewards:swing_foot_clearance_reward 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 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 target_height: 0.08 std: 0.03 sole_offset: 0.065 force_threshold: 5.0 linear_threshold: 0.1 angular_threshold: 0.1 weight: 0.5 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: engineai_lab.tasks.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: -0.4 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: engineai_lab.tasks.velocity.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: false heading_control_stiffness: 0.5 rel_standing_envs: 0.2 rel_heading_envs: 0.0 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: {}