FalconLight
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Commit
•
379894b
1
Parent(s):
bf802e7
Upload 4 files
Browse files
go2/crawl_hard_26.04/config.json
ADDED
@@ -0,0 +1,664 @@
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1 |
+
{
|
2 |
+
"algorithm": {
|
3 |
+
"clip_min_std": 0.1,
|
4 |
+
"clip_param": 0.2,
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5 |
+
"desired_kl": 0.01,
|
6 |
+
"entropy_coef": 0.0,
|
7 |
+
"gamma": 0.99,
|
8 |
+
"lam": 0.95,
|
9 |
+
"learning_rate": 0.001,
|
10 |
+
"max_grad_norm": 1.0,
|
11 |
+
"num_learning_epochs": 5,
|
12 |
+
"num_mini_batches": 4,
|
13 |
+
"schedule": "adaptive",
|
14 |
+
"use_clipped_value_loss": true,
|
15 |
+
"value_loss_coef": 1.0
|
16 |
+
},
|
17 |
+
"init_member_classes": {},
|
18 |
+
"policy": {
|
19 |
+
"activation": "elu",
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20 |
+
"actor_hidden_dims": [
|
21 |
+
512,
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22 |
+
256,
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23 |
+
128
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24 |
+
],
|
25 |
+
"critic_hidden_dims": [
|
26 |
+
512,
|
27 |
+
256,
|
28 |
+
128
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29 |
+
],
|
30 |
+
"init_noise_std": 1.0,
|
31 |
+
"mu_activation": "tanh",
|
32 |
+
"rnn_type": "gru"
|
33 |
+
},
|
34 |
+
"runner": {
|
35 |
+
"algorithm_class_name": "PPO",
|
36 |
+
"checkpoint": -1,
|
37 |
+
"experiment_name": "field_Go2",
|
38 |
+
"load_run": "Apr05_16-10-38_Skills_crawl_pEnergy1.e-5_pDof8.e-1_pTorqueL11.e+0_noComputerClip_noTanh",
|
39 |
+
"max_iterations": 20000,
|
40 |
+
"num_steps_per_env": 24,
|
41 |
+
"policy_class_name": "ActorCriticRecurrent",
|
42 |
+
"resume": true,
|
43 |
+
"resume_path": null,
|
44 |
+
"run_name": "Skills_crawl_pEnergy1.e-5_pDof8.e-1_pTorqueL11.e+0_noComputerClip_noTanh",
|
45 |
+
"save_interval": 500
|
46 |
+
},
|
47 |
+
"runner_class_name": "OnPolicyRunner",
|
48 |
+
"seed": 1,
|
49 |
+
"asset": {
|
50 |
+
"angular_damping": 0.0,
|
51 |
+
"armature": 0.0,
|
52 |
+
"collapse_fixed_joints": true,
|
53 |
+
"default_dof_drive_mode": 3,
|
54 |
+
"density": 0.001,
|
55 |
+
"disable_gravity": false,
|
56 |
+
"file": "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/urdf/go2_description.urdf",
|
57 |
+
"fix_base_link": false,
|
58 |
+
"flip_visual_attachments": true,
|
59 |
+
"foot_name": "foot",
|
60 |
+
"front_hip_names": [
|
61 |
+
"FR_hip_joint",
|
62 |
+
"FL_hip_joint"
|
63 |
+
],
|
64 |
+
"linear_damping": 0.0,
|
65 |
+
"max_angular_velocity": 1000.0,
|
66 |
+
"max_linear_velocity": 1000.0,
|
67 |
+
"name": "Go2",
|
68 |
+
"penalize_contacts_on": [
|
69 |
+
"base",
|
70 |
+
"thigh",
|
71 |
+
"calf"
|
72 |
+
],
|
73 |
+
"rear_hip_names": [
|
74 |
+
"RR_hip_joint",
|
75 |
+
"RL_hip_joint"
|
76 |
+
],
|
77 |
+
"replace_cylinder_with_capsule": true,
|
78 |
+
"sdk_dof_range": {
|
79 |
+
"Hip_max": 0.802,
|
80 |
+
"Hip_min": -0.802,
|
81 |
+
"Thigh_max": 4.19,
|
82 |
+
"Thigh_min": -1.05,
|
83 |
+
"Calf_max": -0.916,
|
84 |
+
"Calf_min": -2.7
|
85 |
+
},
|
86 |
+
"self_collisions": 1,
|
87 |
+
"terminate_after_contacts_on": [
|
88 |
+
"base"
|
89 |
+
],
|
90 |
+
"thickness": 0.01
|
91 |
+
},
|
92 |
+
"commands": {
|
93 |
+
"curriculum": false,
|
94 |
+
"heading_command": false,
|
95 |
+
"max_curriculum": 1.0,
|
96 |
+
"num_commands": 4,
|
97 |
+
"ranges": {
|
98 |
+
"ang_vel_yaw": [
|
99 |
+
0.0,
|
100 |
+
0.0
|
101 |
+
],
|
102 |
+
"heading": [
|
103 |
+
-3.14,
|
104 |
+
3.14
|
105 |
+
],
|
106 |
+
"lin_vel_x": [
|
107 |
+
0.3,
|
108 |
+
0.8
|
109 |
+
],
|
110 |
+
"lin_vel_y": [
|
111 |
+
0.0,
|
112 |
+
0.0
|
113 |
+
]
|
114 |
+
},
|
115 |
+
"resampling_time": 10
|
116 |
+
},
|
117 |
+
"control": {
|
118 |
+
"action_scale": 0.5,
|
119 |
+
"computer_clip_torque": false,
|
120 |
+
"control_type": "P",
|
121 |
+
"damping": {
|
122 |
+
"joint": 1.0
|
123 |
+
},
|
124 |
+
"decimation": 4,
|
125 |
+
"motor_clip_torque": false,
|
126 |
+
"stiffness": {
|
127 |
+
"joint": 40.0
|
128 |
+
},
|
129 |
+
"torque_limits": 25
|
130 |
+
},
|
131 |
+
"curriculum": {
|
132 |
+
"no_moveup_when_fall": false,
|
133 |
+
"penetrate_depth_threshold_easier": 400,
|
134 |
+
"penetrate_depth_threshold_harder": 10,
|
135 |
+
"penetrate_volume_threshold_easier": 10000,
|
136 |
+
"penetrate_volume_threshold_harder": 1500
|
137 |
+
},
|
138 |
+
"domain_rand": {
|
139 |
+
"added_mass_range": [
|
140 |
+
1.0,
|
141 |
+
3.0
|
142 |
+
],
|
143 |
+
"com_range": {
|
144 |
+
"x": [
|
145 |
+
-0.05,
|
146 |
+
0.15
|
147 |
+
],
|
148 |
+
"y": [
|
149 |
+
-0.1,
|
150 |
+
0.1
|
151 |
+
],
|
152 |
+
"z": [
|
153 |
+
-0.05,
|
154 |
+
0.05
|
155 |
+
]
|
156 |
+
},
|
157 |
+
"friction_range": [
|
158 |
+
0.0,
|
159 |
+
2.0
|
160 |
+
],
|
161 |
+
"init_base_pos_range": {
|
162 |
+
"x": [
|
163 |
+
0.2,
|
164 |
+
0.6
|
165 |
+
],
|
166 |
+
"y": [
|
167 |
+
-0.25,
|
168 |
+
0.25
|
169 |
+
]
|
170 |
+
},
|
171 |
+
"init_base_rot_range": {
|
172 |
+
"roll": [
|
173 |
+
-0.1,
|
174 |
+
0.1
|
175 |
+
],
|
176 |
+
"pitch": [
|
177 |
+
-0.1,
|
178 |
+
0.1
|
179 |
+
]
|
180 |
+
},
|
181 |
+
"init_base_vel_range": [
|
182 |
+
-0.1,
|
183 |
+
0.1
|
184 |
+
],
|
185 |
+
"init_dof_pos_ratio_range": [
|
186 |
+
0.5,
|
187 |
+
1.5
|
188 |
+
],
|
189 |
+
"leg_motor_strength_range": [
|
190 |
+
0.9,
|
191 |
+
1.1
|
192 |
+
],
|
193 |
+
"max_push_vel_ang": 0.0,
|
194 |
+
"max_push_vel_xy": 1.0,
|
195 |
+
"push_interval": 751.0,
|
196 |
+
"push_interval_s": 15,
|
197 |
+
"push_robots": false,
|
198 |
+
"randomize_base_mass": true,
|
199 |
+
"randomize_com": true,
|
200 |
+
"randomize_friction": true,
|
201 |
+
"randomize_motor": true
|
202 |
+
},
|
203 |
+
"env": {
|
204 |
+
"env_spacing": 3.0,
|
205 |
+
"episode_length_s": 20,
|
206 |
+
"num_actions": 12,
|
207 |
+
"num_envs": 4096,
|
208 |
+
"num_observations": 235,
|
209 |
+
"num_privileged_obs": null,
|
210 |
+
"obs_components": [
|
211 |
+
"proprioception",
|
212 |
+
"base_pose",
|
213 |
+
"robot_config",
|
214 |
+
"engaging_block",
|
215 |
+
"sidewall_distance"
|
216 |
+
],
|
217 |
+
"send_timeouts": true,
|
218 |
+
"use_lin_vel": true
|
219 |
+
},
|
220 |
+
"init_state": {
|
221 |
+
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|
1 |
+
{
|
2 |
+
"algorithm": {
|
3 |
+
"clip_min_std": 0.2,
|
4 |
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"clip_param": 0.2,
|
5 |
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"desired_kl": 0.01,
|
6 |
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"entropy_coef": 0.0,
|
7 |
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"gamma": 0.99,
|
8 |
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"lam": 0.95,
|
9 |
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|
10 |
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|
11 |
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"num_learning_epochs": 5,
|
12 |
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"num_mini_batches": 4,
|
13 |
+
"schedule": "adaptive",
|
14 |
+
"use_clipped_value_loss": true,
|
15 |
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"value_loss_coef": 1.0
|
16 |
+
},
|
17 |
+
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|
18 |
+
"policy": {
|
19 |
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"activation": "elu",
|
20 |
+
"actor_hidden_dims": [
|
21 |
+
512,
|
22 |
+
256,
|
23 |
+
128
|
24 |
+
],
|
25 |
+
"critic_hidden_dims": [
|
26 |
+
512,
|
27 |
+
256,
|
28 |
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128
|
29 |
+
],
|
30 |
+
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|
31 |
+
"mu_activation": "tanh",
|
32 |
+
"rnn_type": "gru"
|
33 |
+
},
|
34 |
+
"runner": {
|
35 |
+
"algorithm_class_name": "PPO",
|
36 |
+
"checkpoint": -1,
|
37 |
+
"experiment_name": "field_Go2",
|
38 |
+
"load_run": "Apr08_18-45-54_Skills_jump_virtual_fromMar22_14-15-01",
|
39 |
+
"max_iterations": 20000,
|
40 |
+
"num_steps_per_env": 24,
|
41 |
+
"policy_class_name": "ActorCriticRecurrent",
|
42 |
+
"resume": true,
|
43 |
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"resume_path": null,
|
44 |
+
"run_name": "Skills_jump_fromApr08_18-45-54",
|
45 |
+
"save_interval": 500
|
46 |
+
},
|
47 |
+
"runner_class_name": "OnPolicyRunner",
|
48 |
+
"seed": 1,
|
49 |
+
"asset": {
|
50 |
+
"angular_damping": 0.0,
|
51 |
+
"armature": 0.0,
|
52 |
+
"collapse_fixed_joints": true,
|
53 |
+
"default_dof_drive_mode": 3,
|
54 |
+
"density": 0.001,
|
55 |
+
"disable_gravity": false,
|
56 |
+
"file": "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/urdf/go2_description.urdf",
|
57 |
+
"fix_base_link": false,
|
58 |
+
"flip_visual_attachments": true,
|
59 |
+
"foot_name": "foot",
|
60 |
+
"front_hip_names": [
|
61 |
+
"FR_hip_joint",
|
62 |
+
"FL_hip_joint"
|
63 |
+
],
|
64 |
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"linear_damping": 0.0,
|
65 |
+
"max_angular_velocity": 1000.0,
|
66 |
+
"max_linear_velocity": 1000.0,
|
67 |
+
"name": "Go2",
|
68 |
+
"penalize_contacts_on": [
|
69 |
+
"base",
|
70 |
+
"thigh",
|
71 |
+
"calf"
|
72 |
+
],
|
73 |
+
"rear_hip_names": [
|
74 |
+
"RR_hip_joint",
|
75 |
+
"RL_hip_joint"
|
76 |
+
],
|
77 |
+
"replace_cylinder_with_capsule": true,
|
78 |
+
"sdk_dof_range": {
|
79 |
+
"Hip_max": 0.802,
|
80 |
+
"Hip_min": -0.802,
|
81 |
+
"Thigh_max": 4.19,
|
82 |
+
"Thigh_min": -1.05,
|
83 |
+
"Calf_max": -0.916,
|
84 |
+
"Calf_min": -2.7
|
85 |
+
},
|
86 |
+
"self_collisions": 1,
|
87 |
+
"terminate_after_contacts_on": [
|
88 |
+
"base",
|
89 |
+
"imu"
|
90 |
+
],
|
91 |
+
"thickness": 0.01
|
92 |
+
},
|
93 |
+
"commands": {
|
94 |
+
"curriculum": false,
|
95 |
+
"heading_command": false,
|
96 |
+
"max_curriculum": 1.0,
|
97 |
+
"num_commands": 4,
|
98 |
+
"ranges": {
|
99 |
+
"ang_vel_yaw": [
|
100 |
+
0.0,
|
101 |
+
0.0
|
102 |
+
],
|
103 |
+
"heading": [
|
104 |
+
-3.14,
|
105 |
+
3.14
|
106 |
+
],
|
107 |
+
"lin_vel_x": [
|
108 |
+
0.8,
|
109 |
+
1.5
|
110 |
+
],
|
111 |
+
"lin_vel_y": [
|
112 |
+
0.0,
|
113 |
+
0.0
|
114 |
+
]
|
115 |
+
},
|
116 |
+
"resampling_time": 10
|
117 |
+
},
|
118 |
+
"control": {
|
119 |
+
"action_scale": 0.5,
|
120 |
+
"computer_clip_torque": true,
|
121 |
+
"control_type": "P",
|
122 |
+
"damping": {
|
123 |
+
"joint": 1.0
|
124 |
+
},
|
125 |
+
"decimation": 4,
|
126 |
+
"motor_clip_torque": false,
|
127 |
+
"stiffness": {
|
128 |
+
"joint": 40.0
|
129 |
+
},
|
130 |
+
"torque_limits": 35
|
131 |
+
},
|
132 |
+
"curriculum": {
|
133 |
+
"no_moveup_when_fall": false,
|
134 |
+
"penetrate_depth_threshold_easier": 1600,
|
135 |
+
"penetrate_depth_threshold_harder": 1000,
|
136 |
+
"penetrate_volume_threshold_easier": 12000,
|
137 |
+
"penetrate_volume_threshold_harder": 8000
|
138 |
+
},
|
139 |
+
"domain_rand": {
|
140 |
+
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|
141 |
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1.0,
|
142 |
+
3.0
|
143 |
+
],
|
144 |
+
"com_range": {
|
145 |
+
"x": [
|
146 |
+
-0.05,
|
147 |
+
0.15
|
148 |
+
],
|
149 |
+
"y": [
|
150 |
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-0.1,
|
151 |
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0.1
|
152 |
+
],
|
153 |
+
"z": [
|
154 |
+
-0.1,
|
155 |
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0.1
|
156 |
+
]
|
157 |
+
},
|
158 |
+
"friction_range": [
|
159 |
+
0.0,
|
160 |
+
2.0
|
161 |
+
],
|
162 |
+
"init_base_pos_range": {
|
163 |
+
"x": [
|
164 |
+
0.2,
|
165 |
+
0.6
|
166 |
+
],
|
167 |
+
"y": [
|
168 |
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-0.25,
|
169 |
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0.25
|
170 |
+
]
|
171 |
+
},
|
172 |
+
"init_base_rot_range": {
|
173 |
+
"roll": [
|
174 |
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-0.1,
|
175 |
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0.1
|
176 |
+
],
|
177 |
+
"pitch": [
|
178 |
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-0.1,
|
179 |
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0.1
|
180 |
+
]
|
181 |
+
},
|
182 |
+
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|
183 |
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0.5,
|
184 |
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1.5
|
185 |
+
],
|
186 |
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|
187 |
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0.9,
|
188 |
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1.1
|
189 |
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],
|
190 |
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|
191 |
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"max_push_vel_xy": 1.0,
|
192 |
+
"push_interval": 751.0,
|
193 |
+
"push_interval_s": 15,
|
194 |
+
"push_robots": false,
|
195 |
+
"randomize_base_mass": true,
|
196 |
+
"randomize_com": true,
|
197 |
+
"randomize_friction": true,
|
198 |
+
"randomize_motor": true
|
199 |
+
},
|
200 |
+
"env": {
|
201 |
+
"env_spacing": 3.0,
|
202 |
+
"episode_length_s": 20,
|
203 |
+
"num_actions": 12,
|
204 |
+
"num_envs": 4096,
|
205 |
+
"num_observations": 235,
|
206 |
+
"num_privileged_obs": null,
|
207 |
+
"obs_components": [
|
208 |
+
"proprioception",
|
209 |
+
"base_pose",
|
210 |
+
"robot_config",
|
211 |
+
"engaging_block",
|
212 |
+
"sidewall_distance"
|
213 |
+
],
|
214 |
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"send_timeouts": true,
|
215 |
+
"use_lin_vel": true
|
216 |
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},
|
217 |
+
"init_state": {
|
218 |
+
"ang_vel": [
|
219 |
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0.0,
|
220 |
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0.0,
|
221 |
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0.0
|
222 |
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],
|
223 |
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"default_joint_angles": {
|
224 |
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"FR_hip_joint": -0.1,
|
225 |
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"FL_hip_joint": 0.1,
|
226 |
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"RR_hip_joint": -0.1,
|
227 |
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"RL_hip_joint": 0.1,
|
228 |
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"FL_thigh_joint": 0.8,
|
229 |
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"RL_thigh_joint": 1.0,
|
230 |
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"FR_thigh_joint": 0.8,
|
231 |
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"RR_thigh_joint": 1.0,
|
232 |
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"FL_calf_joint": -1.5,
|
233 |
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"RL_calf_joint": -1.5,
|
234 |
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"FR_calf_joint": -1.5,
|
235 |
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"RR_calf_joint": -1.5
|
236 |
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},
|
237 |
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"lin_vel": [
|
238 |
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