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config.yaml

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+seed: 0
+codebase_version: 1.0
+headless: true
+num_envs: 768
+auto_load_latest: false
+checkpoint: null
+project_name: RSS_Baseline_Experiment
+experiment_name: walk_student_distill
+base_dir: logs
+timestamp: ${now:%Y%m%d_%H%M%S}
+experiment_dir: ${base_dir}/${project_name}/${timestamp}-${experiment_name}-${log_task_name}-${robot.asset.robot_type}
+save_dir: ${experiment_dir}/.hydra
+force_flat_terrain: false
+use_wandb: false
+log_task_name: motion_tracking
+sim_type: isaacgym
+env_spacing: 20
+output_dir: ${experiment_dir}/output
+eval_overrides:
+  headless: false
+  num_envs: 1
+  auto_load_latest: false
+  use_wandb: false
+  env:
+    config:
+      max_episode_length_s: 100000
+algo:
+  _target_: humanoidverse.agents.ppo.ppo_mimic.PPO
+  _recursive_: false
+  config:
+    num_learning_epochs: 5
+    num_mini_batches: 4
+    clip_param: 0.2
+    gamma: 0.99
+    lam: 0.95
+    value_loss_coef: 1.0
+    entropy_coef: 0.005
+    l2c2:
+      enable: false
+      lambda_value: 1.0
+      lambda_policy: 0.1
+    dagger_only: true
+    dagger_update_freq: 20
+    teacher_model_path: logs/RSS_Baseline_Experiment/walk/model_50000.pt
+    learning_rate: 0.0001
+    priv_reg_coef_schedual:
+    - 0
+    - 0.1
+    - 2000
+    - 3000
+    max_grad_norm: 1.0
+    use_clipped_value_loss: true
+    schedule: adaptive
+    desired_kl: 0.01
+    num_steps_per_env: 24
+    save_interval: 1000
+    logging_interval: 25
+    load_optimizer: true
+    init_noise_std: 1.0
+    num_learning_iterations: 1000000
+    init_at_random_ep_len: true
+    eval_callbacks: null
+    module_dict:
+      actor:
+        input_dim:
+        - actor_obs
+        - ${algo.config.module_dict.actor.motion_encoder.output_dim}
+        - ${algo.config.module_dict.actor.history_encoder.output_dim}
+        output_dim:
+        - robot_action_dim
+        layer_config:
+          type: MLP
+          hidden_dims:
+          - 768
+          - 512
+          - 256
+          activation: SiLU
+        use_layernorm: true
+        max_sigma: 1.2
+        min_sigma: 0.2
+        fix_sigma: false
+        motion_encoder:
+          tsteps: ${obs.future_num_steps}
+          input_dim:
+          - future_motion_targets
+          hidden_dim: 60
+          output_dim: 128
+          layer_config:
+            type: Conv1d
+            activation: SiLU
+        history_encoder:
+          tsteps: ${obs.history_length}
+          input_dim:
+          - prop_history
+          hidden_dim: 30
+          output_dim: 64
+          layer_config:
+            type: Conv1d
+            activation: SiLU
+        priv_encoder:
+          input_dim:
+          - priv_obs
+          output_dim:
+          - ${algo.config.module_dict.actor.history_encoder.output_dim}
+          layer_config:
+            type: MLP
+            hidden_dims:
+            - 64
+            activation: SiLU
+      critic:
+        input_dim:
+        - actor_obs
+        - priv_obs
+        - ${algo.config.module_dict.actor.motion_encoder.output_dim}
+        output_dim:
+        - 1
+        use_layernorm: true
+        layer_config:
+          type: MLP
+          hidden_dims:
+          - 768
+          - 512
+          - 256
+          activation: SiLU
+env:
+  _target_: humanoidverse.envs.motion_tracking.general_tracking.LeggedRobotGeneralTracking
+  _recursive_: false
+  config:
+    experiment_name: ${experiment_name}
+    num_envs: ${num_envs}
+    headless: ${headless}
+    simulator: ${simulator}
+    save_rendering_dir: null
+    ckpt_dir: null
+    robot: ${robot}
+    domain_rand: ${domain_rand}
+    rewards: ${rewards}
+    terrain: ${terrain}
+    obs: ${obs}
+    env_spacing: 5.0
+    max_episode_length_s: 100000
+    use_vec_reward: false
+    normalization:
+      clip_actions: 100.0
+      clip_observations: 100.0
+    termination:
+      terminate_when_close_to_dof_pos_limit: false
+      terminate_when_close_to_dof_vel_limit: false
+      terminate_when_close_to_torque_limit: false
+      terminate_by_contact: false
+      terminate_by_gravity: false
+      terminate_by_low_height: false
+      terminate_when_motion_end: true
+      terminate_when_motion_far: false
+      terminate_when_local_motion_far: false
+      terminate_by_ref_pos_z: true
+      terminate_by_ref_ori: true
+      terminate_by_body_z: true
+      terminate_when_dof_far: false
+    termination_scales:
+      termination_close_to_dof_pos_limit: 0.98
+      termination_close_to_dof_vel_limit: 0.98
+      termination_close_to_torque_limit: 0.98
+      termination_min_base_height: 0.2
+      termination_gravity_x: 0.8
+      termination_gravity_y: 0.8
+      termination_gravity: 0.75
+      termination_motion_far_threshold: 1.5
+      terminate_by_ref_pos_z_threshold: 0.25
+      terminate_by_ref_ori_threshold: 0.8
+      terminate_by_body_z_threshold: 0.25
+    termination_probality:
+      terminate_when_close_to_dof_pos_limit: 0.25
+      terminate_when_close_to_dof_vel_limit: 0.25
+      terminate_when_close_to_torque_limit: 0.25
+    termination_curriculum:
+      terminate_when_motion_far_curriculum: false
+      terminate_when_motion_far_initial_threshold: 1.5
+      terminate_when_motion_far_threshold_max: 2.0
+      terminate_when_motion_far_threshold_min: 0.3
+      terminate_when_motion_far_curriculum_degree: 2.5e-05
+      terminate_when_motion_far_curriculum_level_down_threshold: 40
+      terminate_when_motion_far_curriculum_level_up_threshold: 42
+    resample_motion_when_training: true
+    resample_time_interval_s: 1000
+    resample_strategy: default
+    noise_to_initial_level: 0
+    init_noise_scale:
+      dof_pos: 0.1
+      dof_vel: 0.15
+      root_pos: 0.05
+      root_rot: 10
+      root_vel: 0.01
+      root_ang_vel: 0.01
+    use_teleop_control: false
+    enforce_randomize_motion_start_eval: false
+robot:
+  only_track_leg: ???
+  dof_obs_size: 23
+  number_of_actions: ???
+  self_obs_max_coords: ???
+  num_bodies: 24
+  algo_obs_dim_dict: ???
+  key_bodies:
+  - left_knee_link
+  - left_ankle_roll_link
+  - right_knee_link
+  - right_ankle_roll_link
+  - left_elbow_link
+  - right_elbow_link
+  - left_hand_link
+  - right_hand_link
+  - head_link
+  contact_bodies:
+  - left_ankle_roll_link
+  - right_ankle_roll_link
+  foot_name: ankle_roll_link
+  init_state:
+    pos:
+    - 0.0
+    - 0.0
+    - 0.8
+    rot:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+    lin_vel:
+    - 0.0
+    - 0.0
+    - 0.0
+    ang_vel:
+    - 0.0
+    - 0.0
+    - 0.0
+    default_joint_angles:
+      left_hip_pitch_joint: -0.1
+      left_hip_roll_joint: 0.0
+      left_hip_yaw_joint: 0.0
+      left_knee_joint: 0.3
+      left_ankle_pitch_joint: -0.2
+      left_ankle_roll_joint: 0.0
+      right_hip_pitch_joint: -0.1
+      right_hip_roll_joint: 0.0
+      right_hip_yaw_joint: 0.0
+      right_knee_joint: 0.3
+      right_ankle_pitch_joint: -0.2
+      right_ankle_roll_joint: 0.0
+      waist_yaw_joint: 0.0
+      waist_roll_joint: 0.0
+      waist_pitch_joint: 0.0
+      left_shoulder_pitch_joint: 0.2
+      left_shoulder_roll_joint: 0.2
+      left_shoulder_yaw_joint: 0.0
+      left_elbow_joint: 0.9
+      right_shoulder_pitch_joint: 0.2
+      right_shoulder_roll_joint: -0.2
+      right_shoulder_yaw_joint: 0.0
+      right_elbow_joint: 0.9
+  contact_pairs_multiplier: 16
+  num_key_bodies: 9
+  mimic_small_marker_bodies: null
+  control:
+    control_type: P
+    stiffness:
+      hip_yaw: 40.17923847137318
+      hip_roll: 99.09842777666113
+      hip_pitch: 40.17923847137318
+      knee: 99.09842777666113
+      ankle_pitch: 28.50124619574858
+      ankle_roll: 28.50124619574858
+      waist_yaw: 40.17923847137318
+      waist_roll: 28.50124619574858
+      waist_pitch: 28.50124619574858
+      shoulder_pitch: 14.25062309787429
+      shoulder_roll: 14.25062309787429
+      shoulder_yaw: 14.25062309787429
+      elbow: 14.25062309787429
+    damping:
+      hip_yaw: 2.5578897650279457
+      hip_roll: 6.3088018534966395
+      hip_pitch: 2.5578897650279457
+      knee: 6.3088018534966395
+      ankle_pitch: 1.814445686584846
+      ankle_roll: 1.814445686584846
+      waist_yaw: 2.5578897650279457
+      waist_roll: 1.814445686584846
+      waist_pitch: 1.814445686584846
+      shoulder_pitch: 0.907222843292423
+      shoulder_roll: 0.907222843292423
+      shoulder_yaw: 0.907222843292423
+      elbow: 0.907222843292423
+    action_scale:
+      hip_yaw: 0.5475464652142303
+      hip_roll: 0.3506614663788243
+      hip_pitch: 0.5475464652142303
+      knee: 0.3506614663788243
+      ankle_pitch: 0.43857731392336724
+      ankle_roll: 0.43857731392336724
+      waist_roll: 0.43857731392336724
+      waist_pitch: 0.43857731392336724
+      waist_yaw: 0.5475464652142303
+      shoulder_pitch: 0.43857731392336724
+      shoulder_roll: 0.43857731392336724
+      shoulder_yaw: 0.43857731392336724
+      elbow: 0.43857731392336724
+    isaac_pd_scale: false
+    clamp_actions: 1.0
+    clip_torques: true
+    dof_armature:
+      left_hip_pitch_joint: 0.01017752
+      left_hip_roll_joint: 0.025101925
+      left_hip_yaw_joint: 0.01017752
+      left_knee_joint: 0.025101925
+      left_ankle_pitch_joint: 0.00721945
+      left_ankle_roll_joint: 0.00721945
+      right_hip_pitch_joint: 0.01017752
+      right_hip_roll_joint: 0.025101925
+      right_hip_yaw_joint: 0.01017752
+      right_knee_joint: 0.025101925
+      right_ankle_pitch_joint: 0.00721945
+      right_ankle_roll_joint: 0.00721945
+      waist_yaw_joint: 0.01017752
+      waist_roll_joint: 0.00721945
+      waist_pitch_joint: 0.00721945
+      left_shoulder_pitch_joint: 0.003609725
+      left_shoulder_roll_joint: 0.003609725
+      left_shoulder_yaw_joint: 0.003609725
+      left_elbow_joint: 0.003609725
+      right_shoulder_pitch_joint: 0.003609725
+      right_shoulder_roll_joint: 0.003609725
+      right_shoulder_yaw_joint: 0.003609725
+      right_elbow_joint: 0.003609725
+    action_clip_value: 100.0
+  asset:
+    collapse_fixed_joints: true
+    replace_cylinder_with_capsule: true
+    flip_visual_attachments: false
+    armature: 0.001
+    thickness: 0.01
+    max_angular_velocity: 1000.0
+    max_linear_velocity: 1000.0
+    density: 0.001
+    angular_damping: 0.0
+    linear_damping: 0.0
+    disable_gravity: null
+    fix_base_link: false
+    default_dof_drive_mode: 3
+    robot_type: g1_23dof_lock_wrist
+    urdf_file: g1/g1_23dof_lock_wrist_rev_2.urdf
+    usd_file: g1/${robot.asset.robot_type}.usd
+    xml_file: g1/${robot.asset.robot_type}.xml
+    asset_root: description/robots
+    self_collisions: 0
+    filter_ints: null
+  actions_dim: 23
+  lower_body_actions_dim: 15
+  upper_body_actions_dim: 8
+  policy_obs_dim: -1
+  critic_obs_dim: -1
+  num_feet: 2
+  right_foot_name: right_ankle_roll_link
+  left_foot_name: left_ankle_roll_link
+  knee_name: knee_link
+  has_torso: true
+  torso_name: torso_link
+  has_upper_body_dof: true
+  dof_names:
+  - left_hip_pitch_joint
+  - left_hip_roll_joint
+  - left_hip_yaw_joint
+  - left_knee_joint
+  - left_ankle_pitch_joint
+  - left_ankle_roll_joint
+  - right_hip_pitch_joint
+  - right_hip_roll_joint
+  - right_hip_yaw_joint
+  - right_knee_joint
+  - right_ankle_pitch_joint
+  - right_ankle_roll_joint
+  - waist_yaw_joint
+  - waist_roll_joint
+  - waist_pitch_joint
+  - left_shoulder_pitch_joint
+  - left_shoulder_roll_joint
+  - left_shoulder_yaw_joint
+  - left_elbow_joint
+  - right_shoulder_pitch_joint
+  - right_shoulder_roll_joint
+  - right_shoulder_yaw_joint
+  - right_elbow_joint
+  upper_dof_names:
+  - left_shoulder_pitch_joint
+  - left_shoulder_roll_joint
+  - left_shoulder_yaw_joint
+  - left_elbow_joint
+  - right_shoulder_pitch_joint
+  - right_shoulder_roll_joint
+  - right_shoulder_yaw_joint
+  - right_elbow_joint
+  upper_left_arm_dof_names:
+  - left_shoulder_pitch_joint
+  - left_shoulder_roll_joint
+  - left_shoulder_yaw_joint
+  - left_elbow_joint
+  upper_right_arm_dof_names:
+  - right_shoulder_pitch_joint
+  - right_shoulder_roll_joint
+  - right_shoulder_yaw_joint
+  - right_elbow_joint
+  lower_dof_names:
+  - left_hip_pitch_joint
+  - left_hip_roll_joint
+  - left_hip_yaw_joint
+  - left_knee_joint
+  - left_ankle_pitch_joint
+  - left_ankle_roll_joint
+  - right_hip_pitch_joint
+  - right_hip_roll_joint
+  - right_hip_yaw_joint
+  - right_knee_joint
+  - right_ankle_pitch_joint
+  - right_ankle_roll_joint
+  - waist_yaw_joint
+  - waist_roll_joint
+  - waist_pitch_joint
+  waist_dof_names:
+  - waist_yaw_joint
+  - waist_roll_joint
+  - waist_pitch_joint
+  dof_pos_lower_limit_list:
+  - -2.5307
+  - -0.5236
+  - -2.7576
+  - -0.087267
+  - -0.87267
+  - -0.2618
+  - -2.5307
+  - -2.9671
+  - -2.7576
+  - -0.087267
+  - -0.87267
+  - -0.2618
+  - -2.618
+  - -0.52
+  - -0.52
+  - -3.0892
+  - -1.5882
+  - -2.618
+  - -1.0472
+  - -3.0892
+  - -2.2515
+  - -2.618
+  - -1.0472
+  dof_pos_upper_limit_list:
+  - 2.8798
+  - 2.9671
+  - 2.7576
+  - 2.8798
+  - 0.5236
+  - 0.2618
+  - 2.8798
+  - 0.5236
+  - 2.7576
+  - 2.8798
+  - 0.5236
+  - 0.2618
+  - 2.618
+  - 0.52
+  - 0.52
+  - 2.6704
+  - 2.2515
+  - 2.618
+  - 2.0944
+  - 2.6704
+  - 1.5882
+  - 2.618
+  - 2.0944
+  dof_vel_limit_list:
+  - 32.0
+  - 20.0
+  - 32.0
+  - 20.0
+  - 37.0
+  - 37.0
+  - 32.0
+  - 20.0
+  - 32.0
+  - 20.0
+  - 37.0
+  - 37.0
+  - 32.0
+  - 37.0
+  - 37.0
+  - 37.0
+  - 37.0
+  - 37.0
+  - 37.0
+  - 37.0
+  - 37.0
+  - 37.0
+  - 37.0
+  dof_effort_limit_list:
+  - 88.0
+  - 139.0
+  - 88.0
+  - 139.0
+  - 50.0
+  - 50.0
+  - 88.0
+  - 139.0
+  - 88.0
+  - 139.0
+  - 50.0
+  - 50.0
+  - 88.0
+  - 50.0
+  - 50.0
+  - 25.0
+  - 25.0
+  - 25.0
+  - 25.0
+  - 25.0
+  - 25.0
+  - 25.0
+  - 25.0
+  dof_armature_list:
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.04
+  - 0.03
+  - 0.03
+  - 0.03
+  dof_joint_friction_list:
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  - 0.03
+  body_names:
+  - pelvis
+  - left_hip_pitch_link
+  - left_hip_roll_link
+  - left_hip_yaw_link
+  - left_knee_link
+  - left_ankle_pitch_link
+  - left_ankle_roll_link
+  - right_hip_pitch_link
+  - right_hip_roll_link
+  - right_hip_yaw_link
+  - right_knee_link
+  - right_ankle_pitch_link
+  - right_ankle_roll_link
+  - waist_yaw_link
+  - waist_roll_link
+  - torso_link
+  - left_shoulder_pitch_link
+  - left_shoulder_roll_link
+  - left_shoulder_yaw_link
+  - left_elbow_link
+  - right_shoulder_pitch_link
+  - right_shoulder_roll_link
+  - right_shoulder_yaw_link
+  - right_elbow_link
+  terminate_after_contacts_on:
+  - pelvis
+  - shoulder
+  - hip
+  penalize_contacts_on:
+  - pelvis
+  - shoulder
+  - hip
+  - torso
+  - waist
+  - elbow
+  motion:
+    motion_lib_type: origin
+    motion_file: example/motion_data/categorized_rss/walk/merged_motion.pkl
+    asset:
+      assetRoot: description/robots/g1/
+      assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml
+    humanoid_type: g1_23dof_lock_wrist
+    bias_offset: false
+    has_self_collision: true
+    has_mesh: false
+    has_jt_limit: false
+    has_dof_subset: true
+    has_upright_start: true
+    has_smpl_pd_offset: false
+    remove_toe: false
+    motion_sym_loss: false
+    sym_loss_coef: 1
+    big_ankle: true
+    has_shape_obs: false
+    has_shape_obs_disc: false
+    has_shape_variation: false
+    masterfoot: false
+    freeze_toe: false
+    freeze_hand: false
+    box_body: true
+    real_weight: true
+    real_weight_porpotion_capsules: true
+    real_weight_porpotion_boxes: true
+    body_names:
+    - pelvis
+    - left_hip_pitch_link
+    - left_hip_roll_link
+    - left_hip_yaw_link
+    - left_knee_link
+    - left_ankle_pitch_link
+    - left_ankle_roll_link
+    - right_hip_pitch_link
+    - right_hip_roll_link
+    - right_hip_yaw_link
+    - right_knee_link
+    - right_ankle_pitch_link
+    - right_ankle_roll_link
+    - waist_yaw_link
+    - waist_roll_link
+    - torso_link
+    - left_shoulder_pitch_link
+    - left_shoulder_roll_link
+    - left_shoulder_yaw_link
+    - left_elbow_link
+    - right_shoulder_pitch_link
+    - right_shoulder_roll_link
+    - right_shoulder_yaw_link
+    - right_elbow_link
+    limb_weight_group:
+    - - left_hip_pitch_link
+      - left_hip_roll_link
+      - left_hip_yaw_link
+      - left_knee_link
+      - left_ankle_pitch_link
+      - left_ankle_roll_link
+    - - right_hip_pitch_link
+      - right_hip_roll_link
+      - right_hip_yaw_link
+      - right_knee_link
+      - right_ankle_pitch_link
+      - right_ankle_roll_link
+    - - pelvis
+      - waist_yaw_link
+      - waist_roll_link
+      - torso_link
+    - - left_shoulder_pitch_link
+      - left_shoulder_roll_link
+      - left_shoulder_yaw_link
+      - left_elbow_link
+    - - right_shoulder_pitch_link
+      - right_shoulder_roll_link
+      - right_shoulder_yaw_link
+      - right_elbow_link
+    dof_names:
+    - left_hip_pitch_link
+    - left_hip_roll_link
+    - left_hip_yaw_link
+    - left_knee_link
+    - left_ankle_pitch_link
+    - left_ankle_roll_link
+    - right_hip_pitch_link
+    - right_hip_roll_link
+    - right_hip_yaw_link
+    - right_knee_link
+    - right_ankle_pitch_link
+    - right_ankle_roll_link
+    - waist_yaw_link
+    - waist_roll_link
+    - torso_link
+    - left_shoulder_pitch_link
+    - left_shoulder_roll_link
+    - left_shoulder_yaw_link
+    - left_elbow_link
+    - right_shoulder_pitch_link
+    - right_shoulder_roll_link
+    - right_shoulder_yaw_link
+    - right_elbow_link
+    right_foot_name: r_foot_roll
+    left_foot_name: l_foot_roll
+    nums_extend_bodies: 3
+    extend_config:
+    - joint_name: left_hand_link
+      parent_name: left_elbow_link
+      pos:
+      - 0.25
+      - 0.0
+      - 0.0
+      rot:
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    - joint_name: right_hand_link
+      parent_name: right_elbow_link
+      pos:
+      - 0.25
+      - 0.0
+      - 0.0
+      rot:
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    - joint_name: head_link
+      parent_name: torso_link
+      pos:
+      - 0.0
+      - 0.0
+      - 0.42
+      rot:
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    motion_tracking_link:
+    - left_hand_link
+    - right_hand_link
+    - head_link
+    lower_body_link:
+    - pelvis
+    - left_hip_pitch_link
+    - left_hip_roll_link
+    - left_hip_yaw_link
+    - left_knee_link
+    - left_ankle_pitch_link
+    - left_ankle_roll_link
+    - right_hip_pitch_link
+    - right_hip_roll_link
+    - right_hip_yaw_link
+    - right_knee_link
+    - right_ankle_pitch_link
+    - right_ankle_roll_link
+    - waist_yaw_link
+    - waist_roll_link
+    - torso_link
+    upper_body_link:
+    - left_shoulder_pitch_link
+    - left_shoulder_roll_link
+    - left_shoulder_yaw_link
+    - left_elbow_link
+    - right_shoulder_pitch_link
+    - right_shoulder_roll_link
+    - right_shoulder_yaw_link
+    - right_elbow_link
+    - left_hand_link
+    - right_hand_link
+    - head_link
+    pelvis_link: pelvis
+    base_link: torso_link
+    hips_link:
+    - left_hip_pitch_link
+    - left_hip_roll_link
+    - left_hip_yaw_link
+    - right_hip_pitch_link
+    - right_hip_roll_link
+    - right_hip_yaw_link
+    joint_matches:
+    - - pelvis
+      - Pelvis
+    - - left_hip_pitch_link
+      - L_Hip
+    - - left_knee_link
+      - L_Knee
+    - - left_ankle_roll_link
+      - L_Ankle
+    - - right_hip_pitch_link
+      - R_Hip
+    - - right_knee_link
+      - R_Knee
+    - - right_ankle_roll_link
+      - R_Ankle
+    - - left_shoulder_roll_link
+      - L_Shoulder
+    - - left_elbow_link
+      - L_Elbow
+    - - left_hand_link
+      - L_Hand
+    - - right_shoulder_roll_link
+      - R_Shoulder
+    - - right_elbow_link
+      - R_Elbow
+    - - right_hand_link
+      - R_Hand
+    - - head_link
+      - Head
+    smpl_pose_modifier:
+    - Pelvis: '[np.pi/2, 0, np.pi/2]'
+    - L_Shoulder: '[0, 0, -np.pi/2]'
+    - R_Shoulder: '[0, 0, np.pi/2]'
+    - L_Elbow: '[0, -np.pi/2, 0]'
+    - R_Elbow: '[0, np.pi/2, 0]'
+    visualization:
+      customize_color: true
+      marker_joint_colors:
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0.929
+        - 0.867
+        - 0.437
+      - - 0
+        - 0.351
+        - 0.613
+      - - 0
+        - 0.351
+        - 0.613
+      - - 0
+        - 0.351
+        - 0.613
+terrain:
+  static_friction: 1.0
+  dynamic_friction: 1.0
+  restitution: 0.0
+  mesh_type: plane
+  horizontal_scale: 0.1
+  vertical_scale: 0.005
+  border_size: 40
+  curriculum: false
+  measure_heights: false
+  measured_points_x:
+  - 0.0
+  measured_points_y:
+  - 0.0
+  selected: false
+  terrain_kwargs: null
+  max_init_terrain_level: 9
+  terrain_length: 8.0
+  terrain_width: 8.0
+  num_rows: 10
+  num_cols: 20
+  terrain_types:
+  - flat
+  - rough
+  - low_obst
+  - smooth_slope
+  - rough_slope
+  terrain_proportions:
+  - 0.2
+  - 0.6
+  - 0.2
+  - 0.0
+  - 0.0
+  slope_treshold: 0.75
+simulator:
+  _target_: humanoidverse.simulator.isaacgym.isaacgym.IsaacGym
+  _recursive_: false
+  config:
+    name: isaacgym
+    terrain: ${terrain}
+    sim:
+      fps: 200
+      control_decimation: 4
+      substeps: 1
+      physx:
+        num_threads: 4
+        solver_type: 1
+        num_position_iterations: 4
+        num_velocity_iterations: 0
+        contact_offset: 0.01
+        rest_offset: 0.0
+        bounce_threshold_velocity: 0.5
+        max_depenetration_velocity: 1.0
+        default_buffer_size_multiplier: 5
+        contact_collection: 2
+domain_rand:
+  push_robots: true
+  push_interval_s:
+  - 5
+  - 10
+  max_push_vel_xy: 0.1
+  randomize_base_com: true
+  base_com_range:
+    x:
+    - -0.05
+    - 0.05
+    'y':
+    - -0.05
+    - 0.05
+    z:
+    - -0.01
+    - 0.01
+  randomize_link_mass: true
+  link_mass_range:
+  - 0.9
+  - 1.1
+  randomize_pd_gain: true
+  kp_range:
+  - 0.9
+  - 1.1
+  kd_range:
+  - 0.9
+  - 1.1
+  randomize_friction: true
+  friction_range:
+  - 0.2
+  - 1.2
+  randomize_base_mass: false
+  randomize_torque_rfi: true
+  rfi_lim: 0.05
+  randomize_rfi_lim: true
+  rfi_lim_range:
+  - 0.5
+  - 1.5
+  randomize_ctrl_delay: true
+  ctrl_delay_step_range:
+  - 0
+  - 2
+  reinit_epis_rand: -1
+  _push_fixed: true
+  randomize_link_com: false
+  link_com_range:
+    x:
+    - -0.01
+    - 0.01
+    'y':
+    - -0.01
+    - 0.01
+    z:
+    - -0.01
+    - 0.01
+  randomize_link_body_names:
+  - pelvis
+  - torso_link
+  - left_shoulder_pitch_link
+  - left_shoulder_roll_link
+  - left_shoulder_yaw_link
+  - left_elbow_link
+  - right_shoulder_pitch_link
+  - right_shoulder_roll_link
+  - right_shoulder_yaw_link
+  - right_elbow_link
+  - left_hip_yaw_link
+  - left_hip_roll_link
+  - left_hip_pitch_link
+  - left_knee_link
+  - left_ankle_pitch_link
+  - left_ankle_roll_link
+  - right_hip_yaw_link
+  - right_hip_roll_link
+  - right_hip_pitch_link
+  - right_knee_link
+  - right_ankle_pitch_link
+  - right_ankle_roll_link
+  randomize_link_inertia: true
+  link_inertia_range:
+  - 0.9
+  - 1.1
+  randomize_link_inertia_names:
+  - pelvis
+  - torso_link
+  - left_shoulder_pitch_link
+  - left_shoulder_roll_link
+  - left_shoulder_yaw_link
+  - left_elbow_link
+  - right_shoulder_pitch_link
+  - right_shoulder_roll_link
+  - right_shoulder_yaw_link
+  - right_elbow_link
+  - left_hip_yaw_link
+  - left_hip_roll_link
+  - left_hip_pitch_link
+  - left_knee_link
+  - left_ankle_pitch_link
+  - left_ankle_roll_link
+  - right_hip_yaw_link
+  - right_hip_roll_link
+  - right_hip_pitch_link
+  - right_knee_link
+  - right_ankle_pitch_link
+  - right_ankle_roll_link
+  heavy_upper:
+    enable: false
+    ratio: 1.1
+    body_names:
+    - torso_link
+    - left_shoulder_pitch_link
+    - left_shoulder_roll_link
+    - left_shoulder_yaw_link
+    - left_elbow_link
+    - right_shoulder_pitch_link
+    - right_shoulder_roll_link
+    - right_shoulder_yaw_link
+    - right_elbow_link
+  parallel_serial_pd:
+    enable: false
+    ratio:
+    - 0.8
+    - 1.2
+    joint_idx:
+    - 4
+    - 5
+    - 10
+    - 11
+    - 13
+    - 14
+  randomize_restitution: false
+  restitution_range:
+  - 0.0
+  - 1.0
+  added_mass_range:
+  - -5.0
+  - 10.0
+  use_rao: true
+  rao_lim: 0.05
+  randomize_motion_ref_xyz: false
+  motion_ref_xyz_range:
+  - - -0.02
+    - 0.02
+  - - -0.02
+    - 0.02
+  - - -0.1
+    - 0.1
+  motion_package_loss: false
+  package_loss_range:
+  - 1
+  - 10
+  package_loss_interval_s: 2
+  born_offset: false
+  born_offset_curriculum: false
+  born_offset_level_down_threshold: 50
+  born_offset_level_up_threshold: 120
+  level_degree: 5.0e-05
+  born_distance: 0.25
+  born_offset_range:
+  - 0.0
+  - 1
+  born_offset_possibility: 1.0
+  born_heading_curriculum: false
+  born_heading_randomization: false
+  born_heading_level_down_threshold: 50
+  born_heading_level_up_threshold: 120
+  born_heading_degree: 10
+  born_heading_range:
+  - 0
+  - 180
+  born_heading_level_degree: 5.0e-05
+rewards:
+  set_reward: jinrui
+  set_reward_date: 20250810
+  only_positive_rewards: false
+  reward_scales:
+    teleop_root_vel: 1.0
+    teleop_anchor_body_position: 1.5
+    teleop_anchor_body_rotation: 1.5
+    local_key_body_position: 3.0
+    local_key_body_rotation: 2.0
+    key_body_velocity: 2.0
+    key_body_ang_velocity: 2.0
+    penalty_action_rate: -0.1
+    penalty_dof_vel: -0.0001
+    penalty_dof_acc: -3.0e-07
+    foot_slip_penalty: -0.1
+    limits_dof_pos: -10.0
+    limits_torque: -5.0
+    termination: -200.0
+    collision: -30.0
+  reward_tracking_sigma:
+    local_key_body_pos: 0.1
+    local_key_body_rot: 0.15
+    key_body_vel: 1.0
+    key_body_ang_vel: 10.0
+    teleop_anchor_body_pos: 0.1
+    teleop_anchor_body_rot: 0.15
+    teleop_root_vel: 1.0
+  adaptive_tracking_sigma:
+    enable: false
+    alpha: 0.001
+    type: mean
+    scale: 1.0
+  desired_feet_air_time: 0.5
+  reward_penalty_curriculum: false
+  reward_initial_penalty_scale: 0.1
+  reward_min_penalty_scale: 0.0
+  reward_max_penalty_scale: 1.0
+  reward_penalty_level_down_threshold: 40
+  reward_penalty_level_up_threshold: 42
+  reward_penalty_degree: 1.0e-05
+  num_compute_average_epl: 10000
+  reward_limit:
+    soft_dof_pos_limit: 0.9
+    soft_dof_vel_limit: 0.9
+    soft_torque_limit: 0.825
+    reward_limits_curriculum:
+      soft_dof_pos_curriculum: true
+      soft_dof_pos_initial_limit: 0.95
+      soft_dof_pos_max_limit: 0.95
+      soft_dof_pos_min_limit: 0.95
+      soft_dof_pos_curriculum_degree: 2.5e-07
+      soft_dof_pos_curriculum_level_down_threshold: 40
+      soft_dof_pos_curriculum_level_up_threshold: 42
+      soft_dof_vel_curriculum: true
+      soft_dof_vel_initial_limit: 0.95
+      soft_dof_vel_max_limit: 0.95
+      soft_dof_vel_min_limit: 0.95
+      soft_dof_vel_curriculum_degree: 2.5e-07
+      soft_dof_vel_curriculum_level_down_threshold: 40
+      soft_dof_vel_curriculum_level_up_threshold: 42
+      soft_torque_curriculum: true
+      soft_torque_initial_limit: 0.85
+      soft_torque_max_limit: 0.85
+      soft_torque_min_limit: 0.85
+      soft_torque_curriculum_degree: 2.5e-07
+      soft_torque_curriculum_level_down_threshold: 40
+      soft_torque_curriculum_level_up_threshold: 42
+  reward_penalty_reward_names:
+  - penalty_action_rate
+  - penalty_dof_vel
+  - penalty_dof_acc
+  - limits_dof_pos
+  - limits_torque
+  - foot_slip_penalty
+obs:
+  history_length: 10
+  future_max_steps: 95
+  future_num_steps: 20
+  masked_dof_vel: false
+  motion_file: ???
+  obs_dict:
+    actor_obs:
+    - dof_pos
+    - dof_vel
+    - actions
+    - next_step_ref_motion
+    - history
+    priv_obs:
+    - contact_mask
+    - root_height
+    - dr_base_com
+    - dr_base_mass
+    - dr_kp
+    - dr_kd
+    - dr_friction
+    future_motion_targets:
+    - future_motion_root_height
+    - future_motion_roll_pitch
+    - future_motion_base_lin_vel
+    - future_motion_base_yaw_vel
+    - future_motion_dof_pos
+    prop_history:
+    - history
+  obs_auxiliary:
+    history:
+      dof_pos: ${obs.history_length}
+      dof_vel: ${obs.history_length}
+      actions: ${obs.history_length}
+  obs_scales:
+    base_lin_vel: 2.0
+    base_ang_vel: 0.25
+    dof_pos: 1.0
+    dof_vel: 0.05
+    actions: 1.0
+    local_key_body_pos: 1.0
+    local_key_body_rot: 1.0
+    anchor_ref_pos: 1.0
+    anchor_ref_rot: 1.0
+    history: 1.0
+    dr_base_com: 1.0
+    dr_base_mass: 1.0
+    dr_kp: 1.0
+    dr_kd: 1.0
+    dr_friction: 1.0
+    dr_ctrl_delay: 1.0
+    contact_mask: 1.0
+    root_height: 1.0
+    roll_pitch: 1.0
+    future_motion_root_height: 1.0
+    future_motion_roll_pitch: 1.0
+    future_motion_base_lin_vel: 1.0
+    future_motion_base_yaw_vel: 1.0
+    future_motion_dof_pos: 1.0
+    future_motion_local_ref_key_body_pos: 1.0
+    next_step_ref_motion: 1.0
+  noise_scales:
+    base_lin_vel: 0.0
+    base_ang_vel: 0.3
+    dof_pos: 0.01
+    dof_vel: 0.15
+    actions: 0.0
+    local_key_body_pos: 0.0
+    local_key_body_rot: 0.0
+    anchor_ref_pos: 0.0
+    anchor_ref_rot: 0.0
+    history: 0.0
+    dr_base_com: 0.0
+    dr_base_mass: 0.0
+    dr_kp: 0.0
+    dr_kd: 0.0
+    dr_friction: 0.0
+    dr_ctrl_delay: 0.0
+    contact_mask: 0.0
+    root_height: 0.0
+    roll_pitch: 0.2
+    future_motion_root_height: 0.0
+    future_motion_roll_pitch: 0.0
+    future_motion_base_lin_vel: 0.0
+    future_motion_base_yaw_vel: 0.0
+    future_motion_dof_pos: 0.0
+    future_motion_local_ref_key_body_pos: 0.0
+    next_step_ref_motion: 0.0
+  add_noise_currculum: false
+  noise_initial_value: 0.05
+  noise_value_max: 1.0
+  noise_value_min: 1.0e-05
+  soft_dof_pos_curriculum_degree: 1.0e-05
+  soft_dof_pos_curriculum_level_down_threshold: 40
+  soft_dof_pos_curriculum_level_up_threshold: 42
+  obs_dims:
+  - base_lin_vel: 3
+  - base_ang_vel: 3
+  - dof_pos: ${robot.dof_obs_size}
+  - dof_vel: ${robot.dof_obs_size}
+  - actions: ${robot.dof_obs_size}
+  - local_key_body_pos: ${eval:'3 * ${robot.num_key_bodies}'}
+  - local_key_body_rot: ${eval:'6 * ${robot.num_key_bodies}'}
+  - anchor_ref_pos: 3
+  - anchor_ref_rot: 6
+  - dr_base_com: 3
+  - dr_base_mass: 1
+  - dr_kp: ${robot.dof_obs_size}
+  - dr_kd: ${robot.dof_obs_size}
+  - dr_friction: 1
+  - dr_ctrl_delay: 1
+  - contact_mask: 2
+  - root_height: 1
+  - roll_pitch: 2
+  - future_motion_root_height: 1
+  - future_motion_roll_pitch: 2
+  - future_motion_base_lin_vel: 3
+  - future_motion_base_yaw_vel: 1
+  - future_motion_dof_pos: ${robot.dof_obs_size}
+  - future_motion_local_ref_key_body_pos: ${eval:'3 * ${robot.num_key_bodies}'}
+  - next_step_ref_motion: ${eval:'1 + 2 + 3 + 1 + ${robot.dof_obs_size} + (3 * ${robot.num_key_bodies})'}
+  post_compute_config: {}
+  motion_len: -1
+device: cuda:0
+max_iterations: 50000