| robot: |
| asset: |
| asset_root: protomotions/data/assets |
| self_collisions: 'True' |
| asset_file_name: mjcf/nv_smpl_humanoid_hinge.xml |
| usd_asset_file_name: usd/nv_smpl_humanoid_hinge_new.usda |
| usd_bodies_root_prim_path: /World/envs/env_.*/Robot/pelvis/ |
| replace_cylinder_with_capsule: None |
| thickness: None |
| max_angular_velocity: '1000.0' |
| max_linear_velocity: '1000.0' |
| density: None |
| angular_damping: '0.0' |
| linear_damping: '0.0' |
| disable_gravity: None |
| fix_base_link: None |
| common_naming_to_robot_body_names: |
| all_left_foot_bodies: |
| - left_ankle |
| - left_foot |
| all_right_foot_bodies: |
| - right_ankle |
| - right_foot |
| all_left_hand_bodies: |
| - left_wrist |
| all_right_hand_bodies: |
| - right_wrist |
| head_body_name: |
| - head |
| torso_body_name: |
| - spine3 |
| default_root_height: '0.95' |
| default_dof_pos: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| contact_bodies: |
| - left_ankle |
| - left_foot |
| - right_ankle |
| - right_foot |
| trackable_bodies_subset: |
| - pelvis |
| - left_ankle |
| - right_ankle |
| - left_wrist |
| - right_wrist |
| - head |
| non_termination_contact_bodies: |
| - left_ankle |
| - left_foot |
| - right_ankle |
| - right_foot |
| init_state: None |
| reset_noise: None |
| mimic_small_marker_bodies: None |
| anchor_body_name: None |
| contact_pairs_multiplier: '16' |
| control: |
| override_control_info: |
| (left|right)_(hip|knee|ankle)[_:].*: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| (left|right)_foot[_:].*: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| spine[123][_:].*: |
| stiffness: '1000' |
| damping: '100' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| (left|right)_(collar|shoulder|elbow)[_:].*: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| (left|right)_wrist[_:].*: |
| stiffness: '300' |
| damping: '30' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| (neck|head)[_:].*: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| control_type: ControlType.BUILT_IN_PD |
| soft_pos_limit: '0.9' |
| control_info: |
| left_hip_x: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_hip_y: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_hip_z: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_knee_x: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_knee_y: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_knee_z: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_ankle_x: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_ankle_y: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_ankle_z: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_foot_x: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_foot_y: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_foot_z: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_hip_x: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_hip_y: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_hip_z: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_knee_x: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_knee_y: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_knee_z: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_ankle_x: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_ankle_y: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_ankle_z: |
| stiffness: '800' |
| damping: '80' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_foot_x: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_foot_y: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_foot_z: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| spine1_x: |
| stiffness: '1000' |
| damping: '100' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| spine1_y: |
| stiffness: '1000' |
| damping: '100' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| spine1_z: |
| stiffness: '1000' |
| damping: '100' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| spine2_x: |
| stiffness: '1000' |
| damping: '100' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| spine2_y: |
| stiffness: '1000' |
| damping: '100' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| spine2_z: |
| stiffness: '1000' |
| damping: '100' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| spine3_x: |
| stiffness: '1000' |
| damping: '100' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| spine3_y: |
| stiffness: '1000' |
| damping: '100' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| spine3_z: |
| stiffness: '1000' |
| damping: '100' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_collar_x: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_collar_y: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_collar_z: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_shoulder_x: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_shoulder_y: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_shoulder_z: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_elbow_x: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_elbow_y: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_elbow_z: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_wrist_x: |
| stiffness: '300' |
| damping: '30' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_wrist_y: |
| stiffness: '300' |
| damping: '30' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| left_wrist_z: |
| stiffness: '300' |
| damping: '30' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_collar_x: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_collar_y: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_collar_z: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_shoulder_x: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_shoulder_y: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_shoulder_z: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_elbow_x: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_elbow_y: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_elbow_z: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_wrist_x: |
| stiffness: '300' |
| damping: '30' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_wrist_y: |
| stiffness: '300' |
| damping: '30' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| right_wrist_z: |
| stiffness: '300' |
| damping: '30' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| neck_x: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| neck_y: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| neck_z: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| head_x: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| head_y: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| head_z: |
| stiffness: '500' |
| damping: '50' |
| armature: None |
| friction: None |
| effort_limit: '500' |
| velocity_limit: '100' |
| kinematic_info: |
| body_names: |
| - pelvis |
| - left_hip |
| - left_knee |
| - left_ankle |
| - left_foot |
| - right_hip |
| - right_knee |
| - right_ankle |
| - right_foot |
| - spine1 |
| - spine2 |
| - spine3 |
| - left_collar |
| - left_shoulder |
| - left_elbow |
| - left_wrist |
| - right_collar |
| - right_shoulder |
| - right_elbow |
| - right_wrist |
| - neck |
| - head |
| dof_names: |
| - left_hip_x |
| - left_hip_y |
| - left_hip_z |
| - left_knee_x |
| - left_knee_y |
| - left_knee_z |
| - left_ankle_x |
| - left_ankle_y |
| - left_ankle_z |
| - left_foot_x |
| - left_foot_y |
| - left_foot_z |
| - right_hip_x |
| - right_hip_y |
| - right_hip_z |
| - right_knee_x |
| - right_knee_y |
| - right_knee_z |
| - right_ankle_x |
| - right_ankle_y |
| - right_ankle_z |
| - right_foot_x |
| - right_foot_y |
| - right_foot_z |
| - spine1_x |
| - spine1_y |
| - spine1_z |
| - spine2_x |
| - spine2_y |
| - spine2_z |
| - spine3_x |
| - spine3_y |
| - spine3_z |
| - left_collar_x |
| - left_collar_y |
| - left_collar_z |
| - left_shoulder_x |
| - left_shoulder_y |
| - left_shoulder_z |
| - left_elbow_x |
| - left_elbow_y |
| - left_elbow_z |
| - left_wrist_x |
| - left_wrist_y |
| - left_wrist_z |
| - right_collar_x |
| - right_collar_y |
| - right_collar_z |
| - right_shoulder_x |
| - right_shoulder_y |
| - right_shoulder_z |
| - right_elbow_x |
| - right_elbow_y |
| - right_elbow_z |
| - right_wrist_x |
| - right_wrist_y |
| - right_wrist_z |
| - neck_x |
| - neck_y |
| - neck_z |
| - head_x |
| - head_y |
| - head_z |
| parent_indices: |
| - -1 |
| - 0 |
| - 1 |
| - 2 |
| - 3 |
| - 0 |
| - 5 |
| - 6 |
| - 7 |
| - 0 |
| - 9 |
| - 10 |
| - 11 |
| - 12 |
| - 13 |
| - 14 |
| - 11 |
| - 16 |
| - 17 |
| - 18 |
| - 11 |
| - 20 |
| local_pos: |
| - - 0.003123299917206168 |
| - 0.012036600150167942 |
| - 0.948592483997345 |
| - - 0.05818939954042435 |
| - 0.0927634984254837 |
| - -0.026001200079917908 |
| - - 0.05469540134072304 |
| - 0.3787533938884735 |
| - -0.009396100416779518 |
| - - -0.043453399091959 |
| - 0.4030593931674957 |
| - -0.03187590092420578 |
| - - 0.04725730046629906 |
| - 0.05799749866127968 |
| - 0.11821629852056503 |
| - - -0.06326749920845032 |
| - 0.10390809923410416 |
| - -0.021250400692224503 |
| - - -0.044210001826286316 |
| - 0.3623799979686737 |
| - -0.01682390086352825 |
| - - 0.015416800044476986 |
| - 0.4107277989387512 |
| - -0.020192300900816917 |
| - - -0.03881239891052246 |
| - 0.058328401297330856 |
| - 0.11904899775981903 |
| - - -0.0027626999653875828 |
| - -0.10989060252904892 |
| - -0.027617599815130234 |
| - - 0.009447700344026089 |
| - -0.13185319304466248 |
| - -0.005940000060945749 |
| - - -0.01133039966225624 |
| - -0.05223510041832924 |
| - 0.028446899726986885 |
| - - 0.0463641993701458 |
| - -0.08494369685649872 |
| - -0.007220500148832798 |
| - - 0.11923900246620178 |
| - -0.05772799998521805 |
| - -0.015460900031030178 |
| - - 0.25412291288375854 |
| - 0.07215049862861633 |
| - -0.042458899319171906 |
| - - 0.25198671221733093 |
| - -0.023221200332045555 |
| - -0.002472100080922246 |
| - - -0.04769489914178848 |
| - -0.0843387022614479 |
| - -0.013399899937212467 |
| - - -0.10257770121097565 |
| - -0.05352440103888512 |
| - -0.01266849972307682 |
| - - -0.271149605512619 |
| - 0.03649250045418739 |
| - -0.02646709978580475 |
| - - -0.24926739931106567 |
| - 0.004532500170171261 |
| - -0.01532519981265068 |
| - - -0.01216449961066246 |
| - -0.16516709327697754 |
| - -0.03161529824137688 |
| - - 0.024852799251675606 |
| - -0.1608240008354187 |
| - 0.021100599318742752 |
| local_rot_ref_mat: |
| - - - 1.0 |
| - -0.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - -0.0 |
| - -1.0 |
| - 0.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - -0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - -0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - -0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - -0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - -0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - -0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - -0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - -0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - -0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - -0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - -0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - -0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - -0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - -0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - -0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - -0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - -0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - -0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - -0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - -0.0 |
| - 1.0 |
| - - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| hinge_axes_map: |
| 1: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 2: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 3: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 4: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 5: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 6: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 7: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 8: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 9: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 10: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 11: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 12: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 13: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 14: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 15: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 16: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 17: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 18: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 19: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 20: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| 21: |
| - - 1.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 1.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 1.0 |
| nq: '70' |
| nv: '69' |
| num_bodies: '22' |
| num_dofs: '63' |
| dof_limits_lower: |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
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| - -2.094395160675049 |
| - -2.094395160675049 |
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| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| - -2.094395160675049 |
| dof_limits_upper: |
| - 2.094395160675049 |
| - 2.094395160675049 |
| - 2.094395160675049 |
| - 2.094395160675049 |
| - 2.094395160675049 |
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| - 2.094395160675049 |
| - 2.094395160675049 |
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| - 2.094395160675049 |
| - 2.094395160675049 |
| - 2.094395160675049 |
| - 2.094395160675049 |
| allow_non_identity_root_quat: 'True' |
| number_of_actions: '63' |
| anchor_body_index: '0' |
| simulation_params: |
| isaacgym: |
| fps: '60' |
| decimation: '2' |
| substeps: '2' |
| physx: |
| num_threads: '4' |
| solver_type: '1' |
| num_position_iterations: '4' |
| num_velocity_iterations: '0' |
| contact_offset: '0.02' |
| rest_offset: '0.0' |
| bounce_threshold_velocity: '0.2' |
| max_depenetration_velocity: '10.0' |
| default_buffer_size_multiplier: '10.0' |
| flex: |
| num_inner_iterations: '10' |
| warm_start: '0.25' |
| isaaclab: |
| fps: '120' |
| decimation: '4' |
| physx: |
| num_threads: '4' |
| solver_type: '1' |
| num_position_iterations: '4' |
| num_velocity_iterations: '4' |
| contact_offset: '0.02' |
| rest_offset: '0.0' |
| bounce_threshold_velocity: '0.2' |
| max_depenetration_velocity: '1' |
| default_buffer_size_multiplier: '10.0' |
| gpu_found_lost_pairs_capacity: '2097152' |
| gpu_max_rigid_contact_count: '8388608' |
| gpu_found_lost_aggregate_pairs_capacity: '33554432' |
| gpu_max_rigid_patch_count: '163840' |
| genesis: |
| fps: '60' |
| decimation: '2' |
| substeps: '2' |
| newton: |
| fps: '120' |
| decimation: '4' |
| solver: newton |
| integrator: implicitfast |
| iterations: '100' |
| ls_iterations: '50' |
| ls_parallel: 'True' |
| impratio: '10.0' |
| njmax: '450' |
| nconmax: '300' |
| cone: pyramidal |
| ccd_iterations: '200' |
| mujoco: |
| fps: '1000' |
| decimation: '20' |
| simulator: |
| _target_: protomotions.simulator.isaaclab.simulator.IsaacLabSimulator |
| w_last: 'False' |
| headless: 'True' |
| num_envs: '8192' |
| sim: |
| fps: '120' |
| decimation: '4' |
| physx: |
| num_threads: '4' |
| solver_type: '1' |
| num_position_iterations: '4' |
| num_velocity_iterations: '4' |
| contact_offset: '0.02' |
| rest_offset: '0.0' |
| bounce_threshold_velocity: '0.2' |
| max_depenetration_velocity: '1' |
| default_buffer_size_multiplier: '10.0' |
| gpu_found_lost_pairs_capacity: '2097152' |
| gpu_max_rigid_contact_count: '8388608' |
| gpu_found_lost_aggregate_pairs_capacity: '33554432' |
| gpu_max_rigid_patch_count: '163840' |
| experiment_name: nv_smpl_newusda_tunereward |
| camera: None |
| record_viewer: 'False' |
| viewer_record_dir: output/recordings/viewer |
| domain_randomization: None |
| pd_target_max_accel: None |
| terrain_generator_spec: |
| size: (32.0, 32.0) |
| border_width: '4.0' |
| num_rows: '8' |
| num_cols: '8' |
| horizontal_scale: '0.05' |
| vertical_scale: '0.005' |
| slope_threshold: None |
| use_cache: 'False' |
| curriculum: 'True' |
| color_scheme: height |
| sub_terrains: |
| stairs_up_w26: |
| _target_: MeshPyramidStairsTerrainCfg |
| proportion: '0.125' |
| step_width: '0.26' |
| step_height_range: (0.18, 0.215) |
| platform_width: '2.5' |
| border_width: '0.75' |
| holes: 'False' |
| stairs_up_w27: |
| _target_: MeshPyramidStairsTerrainCfg |
| proportion: '0.125' |
| step_width: '0.27' |
| step_height_range: (0.18, 0.215) |
| platform_width: '2.5' |
| border_width: '0.75' |
| holes: 'False' |
| stairs_up_w28: |
| _target_: MeshPyramidStairsTerrainCfg |
| proportion: '0.125' |
| step_width: '0.28' |
| step_height_range: (0.18, 0.215) |
| platform_width: '2.5' |
| border_width: '0.75' |
| holes: 'False' |
| stairs_dn_w26: |
| _target_: MeshInvertedPyramidStairsTerrainCfg |
| proportion: '0.125' |
| step_width: '0.26' |
| step_height_range: (0.18, 0.215) |
| platform_width: '2.5' |
| border_width: '0.75' |
| holes: 'False' |
| stairs_dn_w27: |
| _target_: MeshInvertedPyramidStairsTerrainCfg |
| proportion: '0.125' |
| step_width: '0.27' |
| step_height_range: (0.18, 0.215) |
| platform_width: '2.5' |
| border_width: '0.75' |
| holes: 'False' |
| stairs_dn_w28: |
| _target_: MeshInvertedPyramidStairsTerrainCfg |
| proportion: '0.125' |
| step_width: '0.28' |
| step_height_range: (0.18, 0.215) |
| platform_width: '2.5' |
| border_width: '0.75' |
| holes: 'False' |
| slope_up: |
| _target_: smooth_slope.MeshSmoothPyramidSlopeCfg |
| proportion: '0.125' |
| slope_range: (0.0, 0.364) |
| platform_width: '2.0' |
| border_width: '0.25' |
| resolution: (256, 256) |
| slope_down: |
| _target_: smooth_slope.MeshSmoothInvertedPyramidSlopeCfg |
| proportion: '0.125' |
| slope_range: (0.0, 0.364) |
| platform_width: '2.0' |
| border_width: '0.25' |
| resolution: (256, 256) |
| terrain: |
| _target_: protomotions.components.terrains.terrain.Terrain |
| map_length: '32.0' |
| map_width: '32.0' |
| border_size: '4.0' |
| num_levels: '8' |
| num_terrains: '8' |
| terrain_proportions: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| slope_threshold: '0.9' |
| num_samples_per_axis: '16' |
| sample_width: '1.0' |
| terrain_obs_num_samples: '256' |
| horizontal_scale: '0.05' |
| vertical_scale: '0.005' |
| spacing_between_scenes: '10.0' |
| minimal_humanoid_spacing: '0.0' |
| use_isaaclab_generator: 'True' |
| sim_config: |
| static_friction: '1.0' |
| dynamic_friction: '1.0' |
| restitution: '0.0' |
| height_offset: '0.0' |
| combine_mode: CombineMode.AVERAGE |
| scene_lib: |
| _target_: protomotions.components.scene_lib.SceneLib |
| scene_file: None |
| subset_method: SubsetMethod.FIRST |
| replicate_method: ReplicationMethod.WEIGHTED |
| pointcloud_samples_per_object: None |
| num_objects_per_env: None |
| motion_lib: |
| _target_: protomotions.components.motion_lib.MotionLib |
| motion_file: data/output/nv_smpl_train.pt |
| get_motion_state_use_blend: 'True' |
| env: |
| max_episode_length: '1000000' |
| reset_grace_period: '5' |
| num_state_history_steps: '2' |
| _target_: protomotions.envs.base_env.env.BaseEnv |
| scene_obs: |
| enabled: 'False' |
| obs_object_index: None |
| motion_manager: |
| _target_: protomotions.envs.motion_manager.mimic_motion_manager.MimicMotionManager |
| init_start_prob: '1.0' |
| subset_method: None |
| exclude_motion_ids: None |
| exclude_motions_file: None |
| realign_motion_with_humanoid_on_each_step: 'False' |
| resample_on_reset: 'True' |
| ref_respawn_offset: '0.05' |
| ref_object_respawn_offset: '0.0' |
| ref_contact_smooth_window: '7' |
| skip_correct_terrain_height_on_flat: 'True' |
| use_motion_root_position: 'True' |
| show_terrain_markers: 'False' |
| save_dir: '' |
| reward_components: |
| action_smoothness: |
| compute_func: compute_action_smoothness |
| dynamic_vars: |
| current_processed_action: current_processed_action |
| previous_processed_action: previous_processed_action |
| weight: '-0.02' |
| gt_rew: |
| compute_func: compute_gt_rew |
| dynamic_vars: |
| current_rigid_body_pos: current.rigid_body_pos |
| ref_rigid_body_pos: mimic.ref_state.rigid_body_pos |
| weight: '0.5' |
| coefficient: '-5.0' |
| gr_rew: |
| compute_func: compute_gr_rew |
| dynamic_vars: |
| current_rigid_body_rot: current.rigid_body_rot |
| ref_rigid_body_rot: mimic.ref_state.rigid_body_rot |
| weight: '0.3' |
| coefficient: '-5.0' |
| gv_rew: |
| compute_func: compute_gv_rew |
| dynamic_vars: |
| current_rigid_body_vel: current.rigid_body_vel |
| ref_rigid_body_vel: mimic.ref_state.rigid_body_vel |
| weight: '0.1' |
| coefficient: '-0.5' |
| gav_rew: |
| compute_func: compute_gav_rew |
| dynamic_vars: |
| current_rigid_body_ang_vel: current.rigid_body_ang_vel |
| ref_rigid_body_ang_vel: mimic.ref_state.rigid_body_ang_vel |
| weight: '0.2' |
| coefficient: '-0.1' |
| rh_rew: |
| compute_func: compute_rh_rew |
| dynamic_vars: |
| current_root_height: current.root_height |
| ref_rigid_body_pos: mimic.ref_state.rigid_body_pos |
| weight: '0.2' |
| coefficient: '-100.0' |
| rx_rew: |
| compute_func: compute_root_axis_rew |
| dynamic_vars: |
| current_root_pos: current.root_pos |
| ref_rigid_body_pos: mimic.ref_state.rigid_body_pos |
| axis: '0' |
| weight: '0.2' |
| coefficient: '-100.0' |
| ry_rew: |
| compute_func: compute_root_axis_rew |
| dynamic_vars: |
| current_root_pos: current.root_pos |
| ref_rigid_body_pos: mimic.ref_state.rigid_body_pos |
| axis: '1' |
| weight: '0.2' |
| coefficient: '-100.0' |
| pow_rew: |
| compute_func: compute_pow_rew |
| dynamic_vars: |
| dof_forces: current.dof_forces |
| dof_vel: current.dof_vel |
| weight: -1e-05 |
| use_torque_squared: 'False' |
| min_value: '-0.5' |
| contact_match_rew: |
| compute_func: compute_contact_match_rew |
| dynamic_vars: |
| sim_contacts: current.rigid_body_contacts |
| ref_contacts: mimic.ref_state.rigid_body_contacts |
| contact_body_ids: contact_body_ids |
| weight: '-0.1' |
| zero_during_grace_period: 'True' |
| rel_body_pos_rew: |
| compute_func: compute_relative_body_pos_rew |
| dynamic_vars: |
| current_rigid_body_pos: current.rigid_body_pos |
| ref_rigid_body_pos: mimic.ref_state.rigid_body_pos |
| current_anchor_rot: current.anchor_rot |
| ref_rigid_body_rot: mimic.ref_state.rigid_body_rot |
| current_anchor_pos: current.anchor_pos |
| anchor_idx: mimic.anchor_idx |
| weight: '1.0' |
| sigma: '0.3' |
| use_region_weights: 'True' |
| rel_body_ori_rew: |
| compute_func: compute_relative_body_ori_rew |
| dynamic_vars: |
| current_rigid_body_rot: current.rigid_body_rot |
| ref_rigid_body_rot: mimic.ref_state.rigid_body_rot |
| current_anchor_rot: current.anchor_rot |
| anchor_idx: mimic.anchor_idx |
| weight: '1.0' |
| sigma: '0.4' |
| use_region_weights: 'True' |
| control_components: |
| mimic: |
| _target_: protomotions.envs.control.mimic_control.MimicControl |
| bootstrap_on_episode_end: 'True' |
| future_steps: '1' |
| termination_components: {} |
| observation_components: |
| max_coords_obs: |
| compute_func: compute_humanoid_max_coords_observations |
| dynamic_vars: |
| body_pos: current.rigid_body_pos |
| body_rot: current.rigid_body_rot |
| body_vel: current.rigid_body_vel |
| body_ang_vel: current.rigid_body_ang_vel |
| ground_height: ground_heights |
| body_contacts: body_contacts |
| local_obs: 'True' |
| root_height_obs: 'True' |
| observe_contacts: 'False' |
| w_last: 'True' |
| previous_actions: |
| compute_func: compute_historical_actions_from_state |
| dynamic_vars: |
| historical_actions: historical.actions |
| history_steps: '1' |
| mimic_target_poses: |
| compute_func: build_max_coords_target_poses |
| dynamic_vars: |
| current_state_body_pos: current.rigid_body_pos |
| current_state_body_rot: current.rigid_body_rot |
| current_state_body_vel: current.rigid_body_vel |
| current_state_body_ang_vel: current.rigid_body_ang_vel |
| mimic_ref_pos: mimic.future_pos |
| mimic_ref_rot: mimic.future_rot |
| mimic_ref_vel: mimic.future_vel |
| mimic_ref_ang_vel: mimic.future_ang_vel |
| with_velocities: 'True' |
| with_relative: 'True' |
| w_last: 'True' |
| action_config: |
| fn: normalized_pd_fixed_gains_action |
| pd_action_offset: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| pd_action_scale: |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| - 3.1415927410125732 |
| stiffness: |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 800.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 1000.0 |
| - 1000.0 |
| - 1000.0 |
| - 1000.0 |
| - 1000.0 |
| - 1000.0 |
| - 1000.0 |
| - 1000.0 |
| - 1000.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 300.0 |
| - 300.0 |
| - 300.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 300.0 |
| - 300.0 |
| - 300.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| - 500.0 |
| damping: |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 80.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 100.0 |
| - 100.0 |
| - 100.0 |
| - 100.0 |
| - 100.0 |
| - 100.0 |
| - 100.0 |
| - 100.0 |
| - 100.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 30.0 |
| - 30.0 |
| - 30.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 30.0 |
| - 30.0 |
| - 30.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| - 50.0 |
| action_transform: tanh |
| clamp_value: '1.0' |
| agent: |
| batch_size: '16384' |
| training_max_steps: '10000000000000' |
| _target_: protomotions.agents.ppo.agent.PPO |
| model: |
| _target_: protomotions.agents.ppo.model.PPOModel |
| in_keys: |
| - max_coords_obs |
| - terrain |
| - mimic_target_poses |
| - previous_actions |
| out_keys: |
| - action |
| - mean_action |
| - neglogp |
| - value |
| actor: |
| mu_key: actor_trunk_out |
| in_keys: |
| - max_coords_obs |
| - terrain |
| - mimic_target_poses |
| - previous_actions |
| out_keys: |
| - action |
| - mean_action |
| - neglogp |
| _target_: protomotions.agents.ppo.model.PPOActor |
| mu_model: |
| normalize_obs: 'True' |
| norm_clamp_value: '5' |
| num_out: '63' |
| layers: |
| - units: '1024' |
| activation: relu |
| use_layer_norm: 'False' |
| - units: '1024' |
| activation: relu |
| use_layer_norm: 'False' |
| - units: '1024' |
| activation: relu |
| use_layer_norm: 'False' |
| - units: '1024' |
| activation: relu |
| use_layer_norm: 'False' |
| - units: '1024' |
| activation: relu |
| use_layer_norm: 'False' |
| - units: '1024' |
| activation: relu |
| use_layer_norm: 'False' |
| _target_: protomotions.agents.common.mlp.MLPWithConcat |
| in_keys: |
| - max_coords_obs |
| - terrain |
| - mimic_target_poses |
| - previous_actions |
| out_keys: |
| - actor_trunk_out |
| output_activation: None |
| module_operations: |
| - {} |
| num_out: '63' |
| actor_logstd: '-2.9' |
| learnable_std: 'False' |
| critic: |
| normalize_obs: 'True' |
| norm_clamp_value: '5' |
| num_out: '1' |
| layers: |
| - units: '1024' |
| activation: relu |
| use_layer_norm: 'False' |
| - units: '1024' |
| activation: relu |
| use_layer_norm: 'False' |
| - units: '1024' |
| activation: relu |
| use_layer_norm: 'False' |
| - units: '1024' |
| activation: relu |
| use_layer_norm: 'False' |
| _target_: protomotions.agents.common.mlp.MLPWithConcat |
| in_keys: |
| - max_coords_obs |
| - terrain |
| - mimic_target_poses |
| - previous_actions |
| out_keys: |
| - value |
| output_activation: None |
| module_operations: |
| - {} |
| actor_optimizer: |
| _target_: torch.optim.Adam |
| lr: 2e-05 |
| weight_decay: '0.0' |
| eps: 1e-08 |
| betas: (0.9, 0.999) |
| critic_optimizer: |
| _target_: torch.optim.Adam |
| lr: '0.0001' |
| weight_decay: '0.0' |
| eps: 1e-08 |
| betas: (0.9, 0.999) |
| num_steps: '32' |
| gradient_clip_val: '50.0' |
| fail_on_bad_grads: 'False' |
| check_grad_mag: 'True' |
| gamma: '0.99' |
| bounds_loss_coef: '0.0' |
| task_reward_w: '1.0' |
| num_mini_epochs: '1' |
| training_early_termination: None |
| save_epoch_checkpoint_every: '1000' |
| save_last_checkpoint_every: '10' |
| max_episode_length_manager: None |
| evaluator: |
| _target_: protomotions.agents.evaluators.mimic_evaluator.MimicEvaluator |
| evaluation_components: |
| gt_error: |
| compute_func: mean_body_pos_error |
| dynamic_vars: |
| current_rigid_body_pos: current.rigid_body_pos |
| ref_rigid_body_pos: mimic.ref_state.rigid_body_pos |
| threshold: '0.5' |
| gr_error: |
| compute_func: mean_body_rot_error |
| dynamic_vars: |
| current_rigid_body_rot: current.rigid_body_rot |
| ref_rigid_body_rot: mimic.ref_state.rigid_body_rot |
| max_joint_error: |
| compute_func: max_body_pos_error |
| dynamic_vars: |
| current_rigid_body_pos: current.rigid_body_pos |
| ref_rigid_body_pos: mimic.ref_state.rigid_body_pos |
| rel_body_pos_rew: |
| compute_func: compute_relative_body_pos_rew |
| dynamic_vars: |
| current_rigid_body_pos: current.rigid_body_pos |
| ref_rigid_body_pos: mimic.ref_state.rigid_body_pos |
| current_anchor_rot: current.anchor_rot |
| ref_rigid_body_rot: mimic.ref_state.rigid_body_rot |
| current_anchor_pos: current.anchor_pos |
| anchor_idx: mimic.anchor_idx |
| weight: '1.0' |
| sigma: '0.3' |
| use_region_weights: 'True' |
| rel_body_ori_rew: |
| compute_func: compute_relative_body_ori_rew |
| dynamic_vars: |
| current_rigid_body_rot: current.rigid_body_rot |
| ref_rigid_body_rot: mimic.ref_state.rigid_body_rot |
| current_anchor_rot: current.anchor_rot |
| anchor_idx: mimic.anchor_idx |
| weight: '1.0' |
| sigma: '0.4' |
| use_region_weights: 'True' |
| max_eval_steps: '600' |
| eval_metrics_every: '200' |
| save_predicted_motion_lib_every: '3' |
| motion_weights_rules: |
| motion_weights_update_success_discount: '0.999' |
| motion_weights_update_failure_discount: '0' |
| min_motion_weight: 1/num_motions |
| eval_action_ema_alpha: None |
| normalize_rewards: 'True' |
| normalized_reward_clamp_value: '5.0' |
| tau: '0.95' |
| e_clip: '0.2' |
| clip_critic_loss: 'True' |
| actor_clip_frac_threshold: '0.6' |
| entropy_coef: '0.005' |
| l2c2: |
| enabled: 'False' |
| lambda_l2c2: '0.1' |
| obs_pairs: {} |
| adaptive_lr: |
| enabled: 'False' |
| desired_kl: '0.01' |
| min_lr: 1e-05 |
| max_lr: '0.01' |
| advantage_normalization: |
| enabled: 'True' |
| shift_mean: 'True' |
| use_ema: 'True' |
| ema_alpha: '0.05' |
| min_std: '0.02' |
| clamp_range: '4.0' |
|
|
