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go2/crawl_hard_26.04/config.json
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| 1 |
+
{
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| 2 |
+
"algorithm": {
|
| 3 |
+
"clip_min_std": 0.1,
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| 4 |
+
"clip_param": 0.2,
|
| 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",
|
| 20 |
+
"actor_hidden_dims": [
|
| 21 |
+
512,
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| 22 |
+
256,
|
| 23 |
+
128
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| 24 |
+
],
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| 25 |
+
"critic_hidden_dims": [
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| 26 |
+
512,
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| 27 |
+
256,
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| 28 |
+
128
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| 29 |
+
],
|
| 30 |
+
"init_noise_std": 1.0,
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| 31 |
+
"mu_activation": "tanh",
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| 32 |
+
"rnn_type": "gru"
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| 33 |
+
},
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| 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",
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| 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,
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| 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": [
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 110 |
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| 111 |
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| 112 |
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| 114 |
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| 115 |
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| 117 |
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| 130 |
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| 546 |
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0.5
|
| 547 |
+
],
|
| 548 |
+
"depth": [
|
| 549 |
+
0.1,
|
| 550 |
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0.6
|
| 551 |
+
],
|
| 552 |
+
"wall_height": 0.6,
|
| 553 |
+
"no_perlin_at_obstacle": false
|
| 554 |
+
},
|
| 555 |
+
"tilt": {
|
| 556 |
+
"width": [
|
| 557 |
+
0.24,
|
| 558 |
+
0.32
|
| 559 |
+
],
|
| 560 |
+
"depth": [
|
| 561 |
+
0.4,
|
| 562 |
+
1.0
|
| 563 |
+
],
|
| 564 |
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"opening_angle": 0.0,
|
| 565 |
+
"wall_height": 0.5
|
| 566 |
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},
|
| 567 |
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"leap": {
|
| 568 |
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"length": [
|
| 569 |
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0.2,
|
| 570 |
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1.0
|
| 571 |
+
],
|
| 572 |
+
"depth": [
|
| 573 |
+
0.4,
|
| 574 |
+
0.8
|
| 575 |
+
],
|
| 576 |
+
"height": 0.2
|
| 577 |
+
},
|
| 578 |
+
"add_perlin_noise": true,
|
| 579 |
+
"border_perlin_noise": true,
|
| 580 |
+
"border_height": 0.0,
|
| 581 |
+
"virtual_terrain": false,
|
| 582 |
+
"draw_virtual_terrain": true,
|
| 583 |
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"engaging_next_threshold": 1.2,
|
| 584 |
+
"engaging_finish_threshold": 0.0,
|
| 585 |
+
"curriculum_perlin": false,
|
| 586 |
+
"no_perlin_threshold": 0.1
|
| 587 |
+
},
|
| 588 |
+
"TerrainPerlin_kwargs": {
|
| 589 |
+
"zScale": 0.06,
|
| 590 |
+
"frequency": 10
|
| 591 |
+
},
|
| 592 |
+
"border_size": 5,
|
| 593 |
+
"curriculum": true,
|
| 594 |
+
"dynamic_friction": 1.0,
|
| 595 |
+
"horizontal_scale": 0.025,
|
| 596 |
+
"max_init_terrain_level": 2,
|
| 597 |
+
"measure_heights": true,
|
| 598 |
+
"measured_points_x": [
|
| 599 |
+
-0.8,
|
| 600 |
+
-0.7,
|
| 601 |
+
-0.6,
|
| 602 |
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-0.5,
|
| 603 |
+
-0.4,
|
| 604 |
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-0.3,
|
| 605 |
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-0.2,
|
| 606 |
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-0.1,
|
| 607 |
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0.0,
|
| 608 |
+
0.1,
|
| 609 |
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0.2,
|
| 610 |
+
0.3,
|
| 611 |
+
0.4,
|
| 612 |
+
0.5,
|
| 613 |
+
0.6,
|
| 614 |
+
0.7,
|
| 615 |
+
0.8
|
| 616 |
+
],
|
| 617 |
+
"measured_points_y": [
|
| 618 |
+
-0.5,
|
| 619 |
+
-0.4,
|
| 620 |
+
-0.3,
|
| 621 |
+
-0.2,
|
| 622 |
+
-0.1,
|
| 623 |
+
0.0,
|
| 624 |
+
0.1,
|
| 625 |
+
0.2,
|
| 626 |
+
0.3,
|
| 627 |
+
0.4,
|
| 628 |
+
0.5
|
| 629 |
+
],
|
| 630 |
+
"mesh_type": "trimesh",
|
| 631 |
+
"num_cols": 50,
|
| 632 |
+
"num_rows": 20,
|
| 633 |
+
"pad_unavailable_info": true,
|
| 634 |
+
"restitution": 0.0,
|
| 635 |
+
"selected": "BarrierTrack",
|
| 636 |
+
"slope_treshold": 20.0,
|
| 637 |
+
"static_friction": 1.0,
|
| 638 |
+
"terrain_kwargs": null,
|
| 639 |
+
"terrain_length": 8.0,
|
| 640 |
+
"terrain_proportions": [
|
| 641 |
+
0.1,
|
| 642 |
+
0.1,
|
| 643 |
+
0.35,
|
| 644 |
+
0.25,
|
| 645 |
+
0.2
|
| 646 |
+
],
|
| 647 |
+
"terrain_width": 8.0,
|
| 648 |
+
"vertical_scale": 0.005
|
| 649 |
+
},
|
| 650 |
+
"viewer": {
|
| 651 |
+
"draw_volume_sample_points": false,
|
| 652 |
+
"lookat": [
|
| 653 |
+
5.0,
|
| 654 |
+
5.0,
|
| 655 |
+
2.0
|
| 656 |
+
],
|
| 657 |
+
"pos": [
|
| 658 |
+
1,
|
| 659 |
+
2,
|
| 660 |
+
0.5
|
| 661 |
+
],
|
| 662 |
+
"ref_env": 0
|
| 663 |
+
}
|
| 664 |
+
}
|
go2/crawl_hard_26.04/events.out.tfevents.1713427621.lab-rl3.25219.0
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:abe65bbcfd7741589620990a3ef0826b2ba14e241b6d857152eb049397a3588b
|
| 3 |
+
size 61190348
|
go2/jump_hard_26.04/config.json
ADDED
|
@@ -0,0 +1,665 @@
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|
| 1 |
+
{
|
| 2 |
+
"algorithm": {
|
| 3 |
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"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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"learning_rate": 0.001,
|
| 10 |
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"max_grad_norm": 1.0,
|
| 11 |
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"num_learning_epochs": 5,
|
| 12 |
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"num_mini_batches": 4,
|
| 13 |
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"schedule": "adaptive",
|
| 14 |
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"use_clipped_value_loss": true,
|
| 15 |
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"value_loss_coef": 1.0
|
| 16 |
+
},
|
| 17 |
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"init_member_classes": {},
|
| 18 |
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"policy": {
|
| 19 |
+
"activation": "elu",
|
| 20 |
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"actor_hidden_dims": [
|
| 21 |
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512,
|
| 22 |
+
256,
|
| 23 |
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128
|
| 24 |
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],
|
| 25 |
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"critic_hidden_dims": [
|
| 26 |
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512,
|
| 27 |
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256,
|
| 28 |
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128
|
| 29 |
+
],
|
| 30 |
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"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": "Apr08_18-45-54_Skills_jump_virtual_fromMar22_14-15-01",
|
| 39 |
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"max_iterations": 20000,
|
| 40 |
+
"num_steps_per_env": 24,
|
| 41 |
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"policy_class_name": "ActorCriticRecurrent",
|
| 42 |
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"resume": true,
|
| 43 |
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"resume_path": null,
|
| 44 |
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"run_name": "Skills_jump_fromApr08_18-45-54",
|
| 45 |
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"save_interval": 500
|
| 46 |
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},
|
| 47 |
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"runner_class_name": "OnPolicyRunner",
|
| 48 |
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"seed": 1,
|
| 49 |
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"asset": {
|
| 50 |
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"angular_damping": 0.0,
|
| 51 |
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"armature": 0.0,
|
| 52 |
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"collapse_fixed_joints": true,
|
| 53 |
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"default_dof_drive_mode": 3,
|
| 54 |
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"density": 0.001,
|
| 55 |
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"disable_gravity": false,
|
| 56 |
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"file": "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/urdf/go2_description.urdf",
|
| 57 |
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"fix_base_link": false,
|
| 58 |
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"flip_visual_attachments": true,
|
| 59 |
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"foot_name": "foot",
|
| 60 |
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"front_hip_names": [
|
| 61 |
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"FR_hip_joint",
|
| 62 |
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"FL_hip_joint"
|
| 63 |
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],
|
| 64 |
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"linear_damping": 0.0,
|
| 65 |
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"max_angular_velocity": 1000.0,
|
| 66 |
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"max_linear_velocity": 1000.0,
|
| 67 |
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"name": "Go2",
|
| 68 |
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"penalize_contacts_on": [
|
| 69 |
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"base",
|
| 70 |
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"thigh",
|
| 71 |
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"calf"
|
| 72 |
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],
|
| 73 |
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"rear_hip_names": [
|
| 74 |
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"RR_hip_joint",
|
| 75 |
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"RL_hip_joint"
|
| 76 |
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],
|
| 77 |
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"replace_cylinder_with_capsule": true,
|
| 78 |
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"sdk_dof_range": {
|
| 79 |
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"Hip_max": 0.802,
|
| 80 |
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"Hip_min": -0.802,
|
| 81 |
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"Thigh_max": 4.19,
|
| 82 |
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"Thigh_min": -1.05,
|
| 83 |
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"Calf_max": -0.916,
|
| 84 |
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"Calf_min": -2.7
|
| 85 |
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},
|
| 86 |
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|
| 87 |
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"terminate_after_contacts_on": [
|
| 88 |
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"base",
|
| 89 |
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"imu"
|
| 90 |
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],
|
| 91 |
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"thickness": 0.01
|
| 92 |
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},
|
| 93 |
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"commands": {
|
| 94 |
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"curriculum": false,
|
| 95 |
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"heading_command": false,
|
| 96 |
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"max_curriculum": 1.0,
|
| 97 |
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|
| 98 |
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|
| 99 |
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"ang_vel_yaw": [
|
| 100 |
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0.0,
|
| 101 |
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0.0
|
| 102 |
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],
|
| 103 |
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|
| 104 |
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-3.14,
|
| 105 |
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3.14
|
| 106 |
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],
|
| 107 |
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|
| 108 |
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0.8,
|
| 109 |
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1.5
|
| 110 |
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],
|
| 111 |
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|
| 112 |
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0.0,
|
| 113 |
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0.0
|
| 114 |
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]
|
| 115 |
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},
|
| 116 |
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|
| 117 |
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},
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"control_type": "P",
|
| 122 |
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|
| 123 |
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"joint": 1.0
|
| 124 |
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},
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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"joint": 40.0
|
| 129 |
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},
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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"penetrate_depth_threshold_easier": 1600,
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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},
|
| 139 |
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|
| 140 |
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|
| 141 |
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1.0,
|
| 142 |
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3.0
|
| 143 |
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],
|
| 144 |
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|
| 145 |
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"x": [
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| 146 |
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-0.05,
|
| 147 |
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0.15
|
| 148 |
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],
|
| 149 |
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| 150 |
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-0.1,
|
| 151 |
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0.1
|
| 152 |
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],
|
| 153 |
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| 154 |
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-0.1,
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| 155 |
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0.1
|
| 156 |
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]
|
| 157 |
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},
|
| 158 |
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|
| 159 |
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0.0,
|
| 160 |
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2.0
|
| 161 |
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],
|
| 162 |
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|
| 163 |
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"x": [
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| 164 |
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0.2,
|
| 165 |
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0.6
|
| 166 |
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],
|
| 167 |
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"y": [
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| 168 |
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-0.25,
|
| 169 |
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0.25
|
| 170 |
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]
|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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| 175 |
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0.1
|
| 176 |
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],
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| 177 |
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| 178 |
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-0.1,
|
| 179 |
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0.1
|
| 180 |
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]
|
| 181 |
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},
|
| 182 |
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|
| 183 |
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0.5,
|
| 184 |
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1.5
|
| 185 |
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],
|
| 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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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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"randomize_com": true,
|
| 197 |
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"randomize_friction": true,
|
| 198 |
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|
| 199 |
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},
|
| 200 |
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"env": {
|
| 201 |
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|
| 202 |
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| 203 |
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| 204 |
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| 205 |
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| 206 |
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| 207 |
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| 208 |
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"proprioception",
|
| 209 |
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"base_pose",
|
| 210 |
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"robot_config",
|
| 211 |
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"engaging_block",
|
| 212 |
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"sidewall_distance"
|
| 213 |
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],
|
| 214 |
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|
| 215 |
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|
| 216 |
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},
|
| 217 |
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| 218 |
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| 219 |
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0.0,
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| 220 |
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0.0,
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| 221 |
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0.0
|
| 222 |
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],
|
| 223 |
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| 224 |
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| 225 |
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|
| 226 |
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"RR_hip_joint": -0.1,
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| 227 |
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| 228 |
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| 229 |
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|
| 230 |
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| 231 |
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| 232 |
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| 233 |
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"RL_calf_joint": -1.5,
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| 234 |
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"FR_calf_joint": -1.5,
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| 235 |
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"RR_calf_joint": -1.5
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| 236 |
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| 237 |
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| 238 |
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0.0,
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| 239 |
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0.0,
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| 240 |
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0.0
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| 241 |
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],
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| 242 |
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| 243 |
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0.0,
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| 244 |
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0.0,
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| 245 |
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| 246 |
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| 247 |
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| 248 |
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0.0,
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| 249 |
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0.0,
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| 250 |
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0.0,
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| 251 |
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1.0
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| 252 |
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]
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| 253 |
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},
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| 254 |
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| 255 |
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"add_noise": false,
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| 256 |
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"noise_level": 1.0,
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| 257 |
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| 258 |
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"ang_vel": 0.2,
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| 259 |
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| 260 |
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"dof_pos": 0.01,
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| 261 |
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"dof_vel": 1.5,
|
| 262 |
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"forward_depth": 0.1,
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| 263 |
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"gravity": 0.05,
|
| 264 |
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"height_measurements": 0.1,
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| 265 |
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"lin_vel": 0.1
|
| 266 |
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}
|
| 267 |
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},
|
| 268 |
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"normalization": {
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| 269 |
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"clip_actions": 100.0,
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| 270 |
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|
| 271 |
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| 272 |
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"ang_vel": 0.25,
|
| 273 |
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| 274 |
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0.0,
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| 275 |
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0.0,
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| 276 |
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0.0,
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| 277 |
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1.0,
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| 278 |
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1.0,
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| 279 |
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1.0
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| 280 |
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| 281 |
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| 282 |
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| 283 |
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| 284 |
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| 285 |
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| 286 |
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| 287 |
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| 288 |
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| 289 |
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| 290 |
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| 291 |
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| 292 |
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| 293 |
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| 294 |
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| 295 |
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| 302 |
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| 303 |
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| 304 |
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| 305 |
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| 307 |
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| 324 |
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| 325 |
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| 334 |
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| 335 |
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go2/jump_hard_26.04/events.out.tfevents.1713425008.lab-rl1.27735.0
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 61432388
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