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
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    nq: '70'
    nv: '69'
    num_bodies: '22'
    num_dofs: '63'
    dof_limits_lower:
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    dof_limits_upper:
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    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
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    - 0.0
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    - 0.0
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    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
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    - 0.0
    - 0.0
    - 0.0
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    pd_action_scale:
    - 3.1415927410125732
    - 3.1415927410125732
    - 3.1415927410125732
    - 3.1415927410125732
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    stiffness:
    - 800.0
    - 800.0
    - 800.0
    - 800.0
    - 800.0
    - 800.0
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    - 800.0
    - 800.0
    - 500.0
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    - 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
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    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'