share ball_kick_left/6bamlid8_2500
Browse files
README.md
CHANGED
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@@ -12,6 +12,7 @@ uv run train <task> --init-checkpoint hf://pollen-robotics/microduck-training/bu
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| bundle | task | exported to | code |
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| [`ball_kick_right/wy2x3p87_2000`](bundles/ball_kick_right/wy2x3p87_2000) | `Mjlab-BallKick-Flat-MicroDuck` | `pollen-robotics/microduck-policies/ball_kick_right.onnx` | `8c7665695` |
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| [`microduck_sitstand/vfhxgrum_2250`](bundles/microduck_sitstand/vfhxgrum_2250) | `Mjlab-SitStand-Flat-MicroDuck` | `pollen-robotics/microduck-policies/alpha_sitstand.onnx` | `77ffadf43` |
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| [`microduck_stand/69u48n8l_9750`](bundles/microduck_stand/69u48n8l_9750) | `Mjlab-StandUp-Flat-MicroDuck` | `pollen-robotics/microduck-policies/alpha_stand.onnx` | `85105f4b1` |
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| bundle | task | exported to | code |
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| [`ball_kick_left/6bamlid8_2500`](bundles/ball_kick_left/6bamlid8_2500) | `Mjlab-BallKick-Flat-MicroDuck` | `pollen-robotics/microduck-policies/ball_kick_left.onnx` | `8c7665695` |
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| [`ball_kick_right/wy2x3p87_2000`](bundles/ball_kick_right/wy2x3p87_2000) | `Mjlab-BallKick-Flat-MicroDuck` | `pollen-robotics/microduck-policies/ball_kick_right.onnx` | `8c7665695` |
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| [`microduck_sitstand/vfhxgrum_2250`](bundles/microduck_sitstand/vfhxgrum_2250) | `Mjlab-SitStand-Flat-MicroDuck` | `pollen-robotics/microduck-policies/alpha_sitstand.onnx` | `77ffadf43` |
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| [`microduck_stand/69u48n8l_9750`](bundles/microduck_stand/69u48n8l_9750) | `Mjlab-StandUp-Flat-MicroDuck` | `pollen-robotics/microduck-policies/alpha_stand.onnx` | `85105f4b1` |
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bundles/ball_kick_left/6bamlid8_2500/README.md
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@@ -0,0 +1,32 @@
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# ball_kick_left/6bamlid8_2500
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Training checkpoint `model_2500.pt` of `Mjlab-BallKick-Flat-MicroDuck` (experiment `ball_kick_left`), from [pollen-robotics/microduck_rl](https://github.com/pollen-robotics/microduck_rl).
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| | |
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|---|---|
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| code | `8c7665695ef78effd1dede5797eed23d9b62a475` |
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| wandb run | `pollen-robotics/mjlab_microduck/6bamlid8` (2026-07-28_22-46-57_ball_kick_left) |
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| exported to | `pollen-robotics/microduck-policies/ball_kick_left.onnx` (sha256 `d6928284dccd…`, actor weights bit-exact) |
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## Use it
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```bash
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git clone https://github.com/pollen-robotics/microduck_rl && cd microduck_rl && git checkout 8c7665695ef78effd1dede5797eed23d9b62a475
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# resume (same task: iteration and curricula continue where this checkpoint left them)
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uv run train Mjlab-BallKick-Flat-MicroDuck --env.scene.num-envs 4096 --init-checkpoint hf://pollen-robotics/microduck-training/bundles/ball_kick_left/6bamlid8_2500 --agent.max-iterations 1000
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# warm start (another task: weights/normalizer/optimizer kept, curricula restart at 0)
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MICRODUCK_WARM_START=1 uv run train <other-task> --init-checkpoint hf://pollen-robotics/microduck-training/bundles/ball_kick_left/6bamlid8_2500
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# ONNX for the robot (normalizer baked in)
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uv run scripts/export.py Mjlab-BallKick-Flat-MicroDuck --checkpoint-file hf://pollen-robotics/microduck-training/bundles/ball_kick_left/6bamlid8_2500
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```
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The command that trained it:
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```bash
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uv run train Mjlab-BallKick-Flat-MicroDuck --env.scene.num-envs 4096 --agent.max_iterations 10000
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```
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`bundle.json` holds the same provenance, machine-readable.
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bundles/ball_kick_left/6bamlid8_2500/bundle.json
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{
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"schema": 1,
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"id": "ball_kick_left/6bamlid8_2500",
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"task_id": "Mjlab-BallKick-Flat-MicroDuck",
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"experiment_name": "ball_kick_left",
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"iteration": 2500,
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"checkpoint_file": "model_2500.pt",
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"checkpoint_sha256": "729027199b107ed573561acde3bc7410e05786141d611414b6f167aaa4c3878a",
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"source": {
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"wandb_run": "pollen-robotics/mjlab_microduck/6bamlid8",
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"run_name": "2026-07-28_22-46-57_ball_kick_left",
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"created": "2026-07-28T20:47:01Z"
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},
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"code": {
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"repo": "pollen-robotics/microduck_rl",
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"commit": "8c7665695ef78effd1dede5797eed23d9b62a475",
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"on_remote": true,
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"uncommitted_diff": null
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},
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"command": [
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"uv",
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"run",
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"train",
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"Mjlab-BallKick-Flat-MicroDuck",
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"--env.scene.num-envs",
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"4096",
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"--agent.max_iterations",
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"10000"
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],
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"loaded_from": null,
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"teachers": {},
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"onnx": [
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{
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"repo": "pollen-robotics/microduck-policies",
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"file": "ball_kick_left.onnx",
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"revision": "665ae4eb20bfe13bca1ef4ea6d4bb6b4a096e448",
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"sha256": "d6928284dccd3dd61e08bf2f760effa74309fbefd97b2b31afb2a60f526d196a",
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"verified": "actor weights bit-exact"
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}
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]
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}
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bundles/ball_kick_left/6bamlid8_2500/model_2500.pt
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version https://git-lfs.github.com/spec/v1
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oid sha256:729027199b107ed573561acde3bc7410e05786141d611414b6f167aaa4c3878a
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size 4868213
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bundles/ball_kick_left/6bamlid8_2500/wandb_config.yaml
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|
| 1 |
+
_wandb:
|
| 2 |
+
value:
|
| 3 |
+
cli_version: 0.24.0
|
| 4 |
+
e:
|
| 5 |
+
v4xm5uq6xkhwzd66eq0k1garvymhih2t:
|
| 6 |
+
args:
|
| 7 |
+
- Mjlab-BallKick-Flat-MicroDuck
|
| 8 |
+
- --env.scene.num-envs
|
| 9 |
+
- "4096"
|
| 10 |
+
- --agent.max_iterations
|
| 11 |
+
- "10000"
|
| 12 |
+
codePath: .venv/bin/train
|
| 13 |
+
codePathLocal: .venv/bin/train
|
| 14 |
+
cpu_count: 16
|
| 15 |
+
cpu_count_logical: 32
|
| 16 |
+
cudaVersion: "13.0"
|
| 17 |
+
disk:
|
| 18 |
+
/:
|
| 19 |
+
total: "1966736678912"
|
| 20 |
+
used: "1031294410752"
|
| 21 |
+
email: awanegenebayo@gmail.com
|
| 22 |
+
executable: /home/apirrone/MISC/mjlab_microduck/.venv/bin/python3
|
| 23 |
+
git:
|
| 24 |
+
commit: 8c7665695ef78effd1dede5797eed23d9b62a475
|
| 25 |
+
remote: git@github.com:apirrone/mjlab_microduck.git
|
| 26 |
+
gpu: NVIDIA GeForce RTX 5090
|
| 27 |
+
gpu_count: 1
|
| 28 |
+
gpu_nvidia:
|
| 29 |
+
- architecture: Blackwell
|
| 30 |
+
cudaCores: 21760
|
| 31 |
+
memoryTotal: "34190917632"
|
| 32 |
+
name: NVIDIA GeForce RTX 5090
|
| 33 |
+
uuid: GPU-863790b9-9fb8-f21a-0f41-dfaab9de05af
|
| 34 |
+
host: COACH2
|
| 35 |
+
memory:
|
| 36 |
+
total: "67004829696"
|
| 37 |
+
os: Linux-6.17.0-35-generic-x86_64-with-glibc2.39
|
| 38 |
+
program: /home/apirrone/MISC/mjlab_microduck/.venv/bin/train
|
| 39 |
+
python: CPython 3.12.3
|
| 40 |
+
root: /home/apirrone/MISC/mjlab_microduck
|
| 41 |
+
startedAt: "2026-07-28T20:47:00.977044Z"
|
| 42 |
+
writerId: v4xm5uq6xkhwzd66eq0k1garvymhih2t
|
| 43 |
+
m: []
|
| 44 |
+
python_version: 3.12.3
|
| 45 |
+
t:
|
| 46 |
+
"1":
|
| 47 |
+
- 1
|
| 48 |
+
- 105
|
| 49 |
+
"2":
|
| 50 |
+
- 1
|
| 51 |
+
- 105
|
| 52 |
+
"3":
|
| 53 |
+
- 3
|
| 54 |
+
- 13
|
| 55 |
+
- 16
|
| 56 |
+
- 61
|
| 57 |
+
"4": 3.12.3
|
| 58 |
+
"5": 0.24.0
|
| 59 |
+
"12": 0.24.0
|
| 60 |
+
"13": linux-x86_64
|
| 61 |
+
env_cfg:
|
| 62 |
+
value:
|
| 63 |
+
actions:
|
| 64 |
+
joint_pos:
|
| 65 |
+
actuator_names:
|
| 66 |
+
- .*
|
| 67 |
+
clip: null
|
| 68 |
+
entity_name: robot
|
| 69 |
+
offset: 0
|
| 70 |
+
preserve_order: false
|
| 71 |
+
scale: 1
|
| 72 |
+
transmission_type: JOINT
|
| 73 |
+
use_default_offset: true
|
| 74 |
+
auto_reset: true
|
| 75 |
+
commands:
|
| 76 |
+
twist:
|
| 77 |
+
debug_vis: false
|
| 78 |
+
entity_name: robot
|
| 79 |
+
heading_command: false
|
| 80 |
+
heading_control_stiffness: 0.5
|
| 81 |
+
init_velocity_prob: 0
|
| 82 |
+
ranges:
|
| 83 |
+
ang_vel_z:
|
| 84 |
+
- -0.05
|
| 85 |
+
- 0.05
|
| 86 |
+
heading: null
|
| 87 |
+
lin_vel_x:
|
| 88 |
+
- -0.01
|
| 89 |
+
- 0.01
|
| 90 |
+
lin_vel_y:
|
| 91 |
+
- -0.01
|
| 92 |
+
- 0.01
|
| 93 |
+
rel_forward_envs: 0.2
|
| 94 |
+
rel_heading_envs: 0
|
| 95 |
+
rel_standing_envs: 0
|
| 96 |
+
rel_turn_in_place_envs: 0
|
| 97 |
+
rel_world_envs: 0
|
| 98 |
+
resampling_time_range:
|
| 99 |
+
- 5
|
| 100 |
+
- 10
|
| 101 |
+
viz:
|
| 102 |
+
scale: 0.5
|
| 103 |
+
z_offset: 0.2
|
| 104 |
+
curriculum:
|
| 105 |
+
action_rate_weight:
|
| 106 |
+
func: mjlab_microduck.tasks.mdp.reward_weight
|
| 107 |
+
params:
|
| 108 |
+
reward_name: action_rate_l2
|
| 109 |
+
weight_stages:
|
| 110 |
+
- step: 0
|
| 111 |
+
weight: -0.1
|
| 112 |
+
- step: 12000
|
| 113 |
+
weight: -0.2
|
| 114 |
+
- step: 18000
|
| 115 |
+
weight: -0.4
|
| 116 |
+
- step: 24000
|
| 117 |
+
weight: -0.6
|
| 118 |
+
- step: 30000
|
| 119 |
+
weight: -0.8
|
| 120 |
+
- step: 36000
|
| 121 |
+
weight: -1
|
| 122 |
+
com_range:
|
| 123 |
+
func: mjlab_microduck.tasks.mdp.com_range_curriculum
|
| 124 |
+
params:
|
| 125 |
+
event_name: randomize_com
|
| 126 |
+
range_stages:
|
| 127 |
+
- range: 0.003
|
| 128 |
+
step: 0
|
| 129 |
+
- range: 0.005
|
| 130 |
+
step: 12000
|
| 131 |
+
- range: 0.01
|
| 132 |
+
step: 24000
|
| 133 |
+
- range: 0.015
|
| 134 |
+
step: 36000
|
| 135 |
+
head_com_range:
|
| 136 |
+
func: mjlab_microduck.tasks.mdp.com_range_curriculum
|
| 137 |
+
params:
|
| 138 |
+
event_name: randomize_head_com
|
| 139 |
+
range_stages:
|
| 140 |
+
- range: 0.003
|
| 141 |
+
step: 0
|
| 142 |
+
- range: 0.005
|
| 143 |
+
step: 12000
|
| 144 |
+
- range: 0.01
|
| 145 |
+
step: 24000
|
| 146 |
+
push_magnitude:
|
| 147 |
+
func: mjlab_microduck.tasks.mdp.push_curriculum
|
| 148 |
+
params:
|
| 149 |
+
event_name: push_robot
|
| 150 |
+
push_stages:
|
| 151 |
+
- step: 0
|
| 152 |
+
velocity_range:
|
| 153 |
+
x:
|
| 154 |
+
- 0
|
| 155 |
+
- 0
|
| 156 |
+
"y":
|
| 157 |
+
- 0
|
| 158 |
+
- 0
|
| 159 |
+
- step: 12000
|
| 160 |
+
velocity_range:
|
| 161 |
+
x:
|
| 162 |
+
- -0.08
|
| 163 |
+
- 0.08
|
| 164 |
+
"y":
|
| 165 |
+
- -0.08
|
| 166 |
+
- 0.08
|
| 167 |
+
- step: 24000
|
| 168 |
+
velocity_range:
|
| 169 |
+
x:
|
| 170 |
+
- -0.3
|
| 171 |
+
- 0.3
|
| 172 |
+
"y":
|
| 173 |
+
- -0.3
|
| 174 |
+
- 0.3
|
| 175 |
+
decimation: 4
|
| 176 |
+
episode_length_s: 5
|
| 177 |
+
events:
|
| 178 |
+
base_com:
|
| 179 |
+
func: mjlab.envs.mdp.dr.body.body_com_offset
|
| 180 |
+
interval_range_s: null
|
| 181 |
+
is_global_time: false
|
| 182 |
+
min_step_count_between_reset: 0
|
| 183 |
+
mode: startup
|
| 184 |
+
params:
|
| 185 |
+
asset_cfg:
|
| 186 |
+
actuator_ids:
|
| 187 |
+
slice_start: null
|
| 188 |
+
slice_step: null
|
| 189 |
+
slice_stop: null
|
| 190 |
+
actuator_names: null
|
| 191 |
+
body_ids:
|
| 192 |
+
slice_start: null
|
| 193 |
+
slice_step: null
|
| 194 |
+
slice_stop: null
|
| 195 |
+
body_names: []
|
| 196 |
+
camera_ids:
|
| 197 |
+
slice_start: null
|
| 198 |
+
slice_step: null
|
| 199 |
+
slice_stop: null
|
| 200 |
+
camera_names: null
|
| 201 |
+
geom_ids:
|
| 202 |
+
slice_start: null
|
| 203 |
+
slice_step: null
|
| 204 |
+
slice_stop: null
|
| 205 |
+
geom_names: null
|
| 206 |
+
joint_ids:
|
| 207 |
+
slice_start: null
|
| 208 |
+
slice_step: null
|
| 209 |
+
slice_stop: null
|
| 210 |
+
joint_names: null
|
| 211 |
+
light_ids:
|
| 212 |
+
slice_start: null
|
| 213 |
+
slice_step: null
|
| 214 |
+
slice_stop: null
|
| 215 |
+
light_names: null
|
| 216 |
+
material_ids:
|
| 217 |
+
slice_start: null
|
| 218 |
+
slice_step: null
|
| 219 |
+
slice_stop: null
|
| 220 |
+
material_names: null
|
| 221 |
+
name: robot
|
| 222 |
+
pair_ids:
|
| 223 |
+
slice_start: null
|
| 224 |
+
slice_step: null
|
| 225 |
+
slice_stop: null
|
| 226 |
+
pair_names: null
|
| 227 |
+
preserve_order: false
|
| 228 |
+
site_ids:
|
| 229 |
+
slice_start: null
|
| 230 |
+
slice_step: null
|
| 231 |
+
slice_stop: null
|
| 232 |
+
site_names: null
|
| 233 |
+
tendon_ids:
|
| 234 |
+
slice_start: null
|
| 235 |
+
slice_step: null
|
| 236 |
+
slice_stop: null
|
| 237 |
+
tendon_names: null
|
| 238 |
+
operation: add
|
| 239 |
+
ranges:
|
| 240 |
+
"0":
|
| 241 |
+
- -0.025
|
| 242 |
+
- 0.025
|
| 243 |
+
"1":
|
| 244 |
+
- -0.025
|
| 245 |
+
- 0.025
|
| 246 |
+
"2":
|
| 247 |
+
- -0.03
|
| 248 |
+
- 0.03
|
| 249 |
+
encoder_bias:
|
| 250 |
+
func: mjlab.envs.mdp.dr.joint.encoder_bias
|
| 251 |
+
interval_range_s: null
|
| 252 |
+
is_global_time: false
|
| 253 |
+
min_step_count_between_reset: 0
|
| 254 |
+
mode: startup
|
| 255 |
+
params:
|
| 256 |
+
asset_cfg:
|
| 257 |
+
actuator_ids:
|
| 258 |
+
slice_start: null
|
| 259 |
+
slice_step: null
|
| 260 |
+
slice_stop: null
|
| 261 |
+
actuator_names: null
|
| 262 |
+
body_ids:
|
| 263 |
+
slice_start: null
|
| 264 |
+
slice_step: null
|
| 265 |
+
slice_stop: null
|
| 266 |
+
body_names: null
|
| 267 |
+
camera_ids:
|
| 268 |
+
slice_start: null
|
| 269 |
+
slice_step: null
|
| 270 |
+
slice_stop: null
|
| 271 |
+
camera_names: null
|
| 272 |
+
geom_ids:
|
| 273 |
+
slice_start: null
|
| 274 |
+
slice_step: null
|
| 275 |
+
slice_stop: null
|
| 276 |
+
geom_names: null
|
| 277 |
+
joint_ids:
|
| 278 |
+
slice_start: null
|
| 279 |
+
slice_step: null
|
| 280 |
+
slice_stop: null
|
| 281 |
+
joint_names: null
|
| 282 |
+
light_ids:
|
| 283 |
+
slice_start: null
|
| 284 |
+
slice_step: null
|
| 285 |
+
slice_stop: null
|
| 286 |
+
light_names: null
|
| 287 |
+
material_ids:
|
| 288 |
+
slice_start: null
|
| 289 |
+
slice_step: null
|
| 290 |
+
slice_stop: null
|
| 291 |
+
material_names: null
|
| 292 |
+
name: robot
|
| 293 |
+
pair_ids:
|
| 294 |
+
slice_start: null
|
| 295 |
+
slice_step: null
|
| 296 |
+
slice_stop: null
|
| 297 |
+
pair_names: null
|
| 298 |
+
preserve_order: false
|
| 299 |
+
site_ids:
|
| 300 |
+
slice_start: null
|
| 301 |
+
slice_step: null
|
| 302 |
+
slice_stop: null
|
| 303 |
+
site_names: null
|
| 304 |
+
tendon_ids:
|
| 305 |
+
slice_start: null
|
| 306 |
+
slice_step: null
|
| 307 |
+
slice_stop: null
|
| 308 |
+
tendon_names: null
|
| 309 |
+
bias_range:
|
| 310 |
+
- -0.015
|
| 311 |
+
- 0.015
|
| 312 |
+
expand_bam_friction_fields:
|
| 313 |
+
func: mjlab_microduck.tasks.mdp.expand_bam_friction_fields
|
| 314 |
+
interval_range_s: null
|
| 315 |
+
is_global_time: false
|
| 316 |
+
min_step_count_between_reset: 0
|
| 317 |
+
mode: startup
|
| 318 |
+
foot_friction:
|
| 319 |
+
func: mjlab.envs.mdp.dr.geom.geom_friction
|
| 320 |
+
interval_range_s: null
|
| 321 |
+
is_global_time: false
|
| 322 |
+
min_step_count_between_reset: 0
|
| 323 |
+
mode: startup
|
| 324 |
+
params:
|
| 325 |
+
asset_cfg:
|
| 326 |
+
actuator_ids:
|
| 327 |
+
slice_start: null
|
| 328 |
+
slice_step: null
|
| 329 |
+
slice_stop: null
|
| 330 |
+
actuator_names: null
|
| 331 |
+
body_ids:
|
| 332 |
+
slice_start: null
|
| 333 |
+
slice_step: null
|
| 334 |
+
slice_stop: null
|
| 335 |
+
body_names: null
|
| 336 |
+
camera_ids:
|
| 337 |
+
slice_start: null
|
| 338 |
+
slice_step: null
|
| 339 |
+
slice_stop: null
|
| 340 |
+
camera_names: null
|
| 341 |
+
geom_ids:
|
| 342 |
+
slice_start: null
|
| 343 |
+
slice_step: null
|
| 344 |
+
slice_stop: null
|
| 345 |
+
geom_names:
|
| 346 |
+
- left_foot_collision
|
| 347 |
+
- right_foot_collision
|
| 348 |
+
joint_ids:
|
| 349 |
+
slice_start: null
|
| 350 |
+
slice_step: null
|
| 351 |
+
slice_stop: null
|
| 352 |
+
joint_names: null
|
| 353 |
+
light_ids:
|
| 354 |
+
slice_start: null
|
| 355 |
+
slice_step: null
|
| 356 |
+
slice_stop: null
|
| 357 |
+
light_names: null
|
| 358 |
+
material_ids:
|
| 359 |
+
slice_start: null
|
| 360 |
+
slice_step: null
|
| 361 |
+
slice_stop: null
|
| 362 |
+
material_names: null
|
| 363 |
+
name: robot
|
| 364 |
+
pair_ids:
|
| 365 |
+
slice_start: null
|
| 366 |
+
slice_step: null
|
| 367 |
+
slice_stop: null
|
| 368 |
+
pair_names: null
|
| 369 |
+
preserve_order: false
|
| 370 |
+
site_ids:
|
| 371 |
+
slice_start: null
|
| 372 |
+
slice_step: null
|
| 373 |
+
slice_stop: null
|
| 374 |
+
site_names: null
|
| 375 |
+
tendon_ids:
|
| 376 |
+
slice_start: null
|
| 377 |
+
slice_step: null
|
| 378 |
+
slice_stop: null
|
| 379 |
+
tendon_names: null
|
| 380 |
+
operation: abs
|
| 381 |
+
ranges:
|
| 382 |
+
- 0.7
|
| 383 |
+
- 1.3
|
| 384 |
+
shared_random: true
|
| 385 |
+
push_robot:
|
| 386 |
+
func: mjlab.envs.mdp.events.push_by_setting_velocity
|
| 387 |
+
interval_range_s:
|
| 388 |
+
- 3
|
| 389 |
+
- 6
|
| 390 |
+
is_global_time: false
|
| 391 |
+
min_step_count_between_reset: 0
|
| 392 |
+
mode: interval
|
| 393 |
+
params:
|
| 394 |
+
asset_cfg:
|
| 395 |
+
actuator_ids:
|
| 396 |
+
slice_start: null
|
| 397 |
+
slice_step: null
|
| 398 |
+
slice_stop: null
|
| 399 |
+
actuator_names: null
|
| 400 |
+
body_ids:
|
| 401 |
+
slice_start: null
|
| 402 |
+
slice_step: null
|
| 403 |
+
slice_stop: null
|
| 404 |
+
body_names: null
|
| 405 |
+
camera_ids:
|
| 406 |
+
slice_start: null
|
| 407 |
+
slice_step: null
|
| 408 |
+
slice_stop: null
|
| 409 |
+
camera_names: null
|
| 410 |
+
geom_ids:
|
| 411 |
+
slice_start: null
|
| 412 |
+
slice_step: null
|
| 413 |
+
slice_stop: null
|
| 414 |
+
geom_names: null
|
| 415 |
+
joint_ids:
|
| 416 |
+
slice_start: null
|
| 417 |
+
slice_step: null
|
| 418 |
+
slice_stop: null
|
| 419 |
+
joint_names: null
|
| 420 |
+
light_ids:
|
| 421 |
+
slice_start: null
|
| 422 |
+
slice_step: null
|
| 423 |
+
slice_stop: null
|
| 424 |
+
light_names: null
|
| 425 |
+
material_ids:
|
| 426 |
+
slice_start: null
|
| 427 |
+
slice_step: null
|
| 428 |
+
slice_stop: null
|
| 429 |
+
material_names: null
|
| 430 |
+
name: robot
|
| 431 |
+
pair_ids:
|
| 432 |
+
slice_start: null
|
| 433 |
+
slice_step: null
|
| 434 |
+
slice_stop: null
|
| 435 |
+
pair_names: null
|
| 436 |
+
preserve_order: false
|
| 437 |
+
site_ids:
|
| 438 |
+
slice_start: null
|
| 439 |
+
slice_step: null
|
| 440 |
+
slice_stop: null
|
| 441 |
+
site_names: null
|
| 442 |
+
tendon_ids:
|
| 443 |
+
slice_start: null
|
| 444 |
+
slice_step: null
|
| 445 |
+
slice_stop: null
|
| 446 |
+
tendon_names: null
|
| 447 |
+
velocity_range:
|
| 448 |
+
x:
|
| 449 |
+
- -0.3
|
| 450 |
+
- 0.3
|
| 451 |
+
"y":
|
| 452 |
+
- -0.3
|
| 453 |
+
- 0.3
|
| 454 |
+
randomize_armature:
|
| 455 |
+
func: mjlab.envs.mdp.dr.joint.joint_armature
|
| 456 |
+
interval_range_s: null
|
| 457 |
+
is_global_time: false
|
| 458 |
+
min_step_count_between_reset: 0
|
| 459 |
+
mode: reset
|
| 460 |
+
params:
|
| 461 |
+
asset_cfg:
|
| 462 |
+
actuator_ids:
|
| 463 |
+
slice_start: null
|
| 464 |
+
slice_step: null
|
| 465 |
+
slice_stop: null
|
| 466 |
+
actuator_names: null
|
| 467 |
+
body_ids:
|
| 468 |
+
slice_start: null
|
| 469 |
+
slice_step: null
|
| 470 |
+
slice_stop: null
|
| 471 |
+
body_names: null
|
| 472 |
+
camera_ids:
|
| 473 |
+
slice_start: null
|
| 474 |
+
slice_step: null
|
| 475 |
+
slice_stop: null
|
| 476 |
+
camera_names: null
|
| 477 |
+
geom_ids:
|
| 478 |
+
slice_start: null
|
| 479 |
+
slice_step: null
|
| 480 |
+
slice_stop: null
|
| 481 |
+
geom_names: null
|
| 482 |
+
joint_ids:
|
| 483 |
+
slice_start: null
|
| 484 |
+
slice_step: null
|
| 485 |
+
slice_stop: null
|
| 486 |
+
joint_names:
|
| 487 |
+
- .*
|
| 488 |
+
light_ids:
|
| 489 |
+
slice_start: null
|
| 490 |
+
slice_step: null
|
| 491 |
+
slice_stop: null
|
| 492 |
+
light_names: null
|
| 493 |
+
material_ids:
|
| 494 |
+
slice_start: null
|
| 495 |
+
slice_step: null
|
| 496 |
+
slice_stop: null
|
| 497 |
+
material_names: null
|
| 498 |
+
name: robot
|
| 499 |
+
pair_ids:
|
| 500 |
+
slice_start: null
|
| 501 |
+
slice_step: null
|
| 502 |
+
slice_stop: null
|
| 503 |
+
pair_names: null
|
| 504 |
+
preserve_order: false
|
| 505 |
+
site_ids:
|
| 506 |
+
slice_start: null
|
| 507 |
+
slice_step: null
|
| 508 |
+
slice_stop: null
|
| 509 |
+
site_names: null
|
| 510 |
+
tendon_ids:
|
| 511 |
+
slice_start: null
|
| 512 |
+
slice_step: null
|
| 513 |
+
slice_stop: null
|
| 514 |
+
tendon_names: null
|
| 515 |
+
operation: scale
|
| 516 |
+
ranges:
|
| 517 |
+
- 0.9
|
| 518 |
+
- 1.1
|
| 519 |
+
randomize_com:
|
| 520 |
+
func: mjlab.envs.mdp.dr.body.body_com_offset
|
| 521 |
+
interval_range_s: null
|
| 522 |
+
is_global_time: false
|
| 523 |
+
min_step_count_between_reset: 0
|
| 524 |
+
mode: reset
|
| 525 |
+
params:
|
| 526 |
+
asset_cfg:
|
| 527 |
+
actuator_ids:
|
| 528 |
+
slice_start: null
|
| 529 |
+
slice_step: null
|
| 530 |
+
slice_stop: null
|
| 531 |
+
actuator_names: null
|
| 532 |
+
body_ids:
|
| 533 |
+
slice_start: null
|
| 534 |
+
slice_step: null
|
| 535 |
+
slice_stop: null
|
| 536 |
+
body_names:
|
| 537 |
+
- trunk_base
|
| 538 |
+
camera_ids:
|
| 539 |
+
slice_start: null
|
| 540 |
+
slice_step: null
|
| 541 |
+
slice_stop: null
|
| 542 |
+
camera_names: null
|
| 543 |
+
geom_ids:
|
| 544 |
+
slice_start: null
|
| 545 |
+
slice_step: null
|
| 546 |
+
slice_stop: null
|
| 547 |
+
geom_names: null
|
| 548 |
+
joint_ids:
|
| 549 |
+
slice_start: null
|
| 550 |
+
slice_step: null
|
| 551 |
+
slice_stop: null
|
| 552 |
+
joint_names: null
|
| 553 |
+
light_ids:
|
| 554 |
+
slice_start: null
|
| 555 |
+
slice_step: null
|
| 556 |
+
slice_stop: null
|
| 557 |
+
light_names: null
|
| 558 |
+
material_ids:
|
| 559 |
+
slice_start: null
|
| 560 |
+
slice_step: null
|
| 561 |
+
slice_stop: null
|
| 562 |
+
material_names: null
|
| 563 |
+
name: robot
|
| 564 |
+
pair_ids:
|
| 565 |
+
slice_start: null
|
| 566 |
+
slice_step: null
|
| 567 |
+
slice_stop: null
|
| 568 |
+
pair_names: null
|
| 569 |
+
preserve_order: false
|
| 570 |
+
site_ids:
|
| 571 |
+
slice_start: null
|
| 572 |
+
slice_step: null
|
| 573 |
+
slice_stop: null
|
| 574 |
+
site_names: null
|
| 575 |
+
tendon_ids:
|
| 576 |
+
slice_start: null
|
| 577 |
+
slice_step: null
|
| 578 |
+
slice_stop: null
|
| 579 |
+
tendon_names: null
|
| 580 |
+
operation: add
|
| 581 |
+
ranges:
|
| 582 |
+
- -0.003
|
| 583 |
+
- 0.003
|
| 584 |
+
randomize_head_com:
|
| 585 |
+
func: mjlab.envs.mdp.dr.body.body_com_offset
|
| 586 |
+
interval_range_s: null
|
| 587 |
+
is_global_time: false
|
| 588 |
+
min_step_count_between_reset: 0
|
| 589 |
+
mode: reset
|
| 590 |
+
params:
|
| 591 |
+
asset_cfg:
|
| 592 |
+
actuator_ids:
|
| 593 |
+
slice_start: null
|
| 594 |
+
slice_step: null
|
| 595 |
+
slice_stop: null
|
| 596 |
+
actuator_names: null
|
| 597 |
+
body_ids:
|
| 598 |
+
slice_start: null
|
| 599 |
+
slice_step: null
|
| 600 |
+
slice_stop: null
|
| 601 |
+
body_names:
|
| 602 |
+
- neck
|
| 603 |
+
- neck_pitch
|
| 604 |
+
- yaw_roll_motion
|
| 605 |
+
- jaw_soft
|
| 606 |
+
- bearing_roll
|
| 607 |
+
camera_ids:
|
| 608 |
+
slice_start: null
|
| 609 |
+
slice_step: null
|
| 610 |
+
slice_stop: null
|
| 611 |
+
camera_names: null
|
| 612 |
+
geom_ids:
|
| 613 |
+
slice_start: null
|
| 614 |
+
slice_step: null
|
| 615 |
+
slice_stop: null
|
| 616 |
+
geom_names: null
|
| 617 |
+
joint_ids:
|
| 618 |
+
slice_start: null
|
| 619 |
+
slice_step: null
|
| 620 |
+
slice_stop: null
|
| 621 |
+
joint_names: null
|
| 622 |
+
light_ids:
|
| 623 |
+
slice_start: null
|
| 624 |
+
slice_step: null
|
| 625 |
+
slice_stop: null
|
| 626 |
+
light_names: null
|
| 627 |
+
material_ids:
|
| 628 |
+
slice_start: null
|
| 629 |
+
slice_step: null
|
| 630 |
+
slice_stop: null
|
| 631 |
+
material_names: null
|
| 632 |
+
name: robot
|
| 633 |
+
pair_ids:
|
| 634 |
+
slice_start: null
|
| 635 |
+
slice_step: null
|
| 636 |
+
slice_stop: null
|
| 637 |
+
pair_names: null
|
| 638 |
+
preserve_order: false
|
| 639 |
+
site_ids:
|
| 640 |
+
slice_start: null
|
| 641 |
+
slice_step: null
|
| 642 |
+
slice_stop: null
|
| 643 |
+
site_names: null
|
| 644 |
+
tendon_ids:
|
| 645 |
+
slice_start: null
|
| 646 |
+
slice_step: null
|
| 647 |
+
slice_stop: null
|
| 648 |
+
tendon_names: null
|
| 649 |
+
operation: add
|
| 650 |
+
ranges:
|
| 651 |
+
- -0.003
|
| 652 |
+
- 0.003
|
| 653 |
+
randomize_joint_friction:
|
| 654 |
+
func: mjlab_microduck.tasks.mdp.randomize_bam_friction
|
| 655 |
+
interval_range_s: null
|
| 656 |
+
is_global_time: false
|
| 657 |
+
min_step_count_between_reset: 0
|
| 658 |
+
mode: reset
|
| 659 |
+
params:
|
| 660 |
+
asset_cfg:
|
| 661 |
+
actuator_ids:
|
| 662 |
+
slice_start: null
|
| 663 |
+
slice_step: null
|
| 664 |
+
slice_stop: null
|
| 665 |
+
actuator_names: null
|
| 666 |
+
body_ids:
|
| 667 |
+
slice_start: null
|
| 668 |
+
slice_step: null
|
| 669 |
+
slice_stop: null
|
| 670 |
+
body_names: null
|
| 671 |
+
camera_ids:
|
| 672 |
+
slice_start: null
|
| 673 |
+
slice_step: null
|
| 674 |
+
slice_stop: null
|
| 675 |
+
camera_names: null
|
| 676 |
+
geom_ids:
|
| 677 |
+
slice_start: null
|
| 678 |
+
slice_step: null
|
| 679 |
+
slice_stop: null
|
| 680 |
+
geom_names: null
|
| 681 |
+
joint_ids:
|
| 682 |
+
slice_start: null
|
| 683 |
+
slice_step: null
|
| 684 |
+
slice_stop: null
|
| 685 |
+
joint_names: null
|
| 686 |
+
light_ids:
|
| 687 |
+
slice_start: null
|
| 688 |
+
slice_step: null
|
| 689 |
+
slice_stop: null
|
| 690 |
+
light_names: null
|
| 691 |
+
material_ids:
|
| 692 |
+
slice_start: null
|
| 693 |
+
slice_step: null
|
| 694 |
+
slice_stop: null
|
| 695 |
+
material_names: null
|
| 696 |
+
name: robot
|
| 697 |
+
pair_ids:
|
| 698 |
+
slice_start: null
|
| 699 |
+
slice_step: null
|
| 700 |
+
slice_stop: null
|
| 701 |
+
pair_names: null
|
| 702 |
+
preserve_order: false
|
| 703 |
+
site_ids:
|
| 704 |
+
slice_start: null
|
| 705 |
+
slice_step: null
|
| 706 |
+
slice_stop: null
|
| 707 |
+
site_names: null
|
| 708 |
+
tendon_ids:
|
| 709 |
+
slice_start: null
|
| 710 |
+
slice_step: null
|
| 711 |
+
slice_stop: null
|
| 712 |
+
tendon_names: null
|
| 713 |
+
scale_range:
|
| 714 |
+
- 0.9
|
| 715 |
+
- 1.1
|
| 716 |
+
randomize_mass_inertia:
|
| 717 |
+
func: mjlab.envs.mdp.dr.body.pseudo_inertia
|
| 718 |
+
interval_range_s: null
|
| 719 |
+
is_global_time: false
|
| 720 |
+
min_step_count_between_reset: 0
|
| 721 |
+
mode: startup
|
| 722 |
+
params:
|
| 723 |
+
alpha_range:
|
| 724 |
+
- -0.02564664719377529
|
| 725 |
+
- 0.024395082084716024
|
| 726 |
+
asset_cfg:
|
| 727 |
+
actuator_ids:
|
| 728 |
+
slice_start: null
|
| 729 |
+
slice_step: null
|
| 730 |
+
slice_stop: null
|
| 731 |
+
actuator_names: null
|
| 732 |
+
body_ids:
|
| 733 |
+
slice_start: null
|
| 734 |
+
slice_step: null
|
| 735 |
+
slice_stop: null
|
| 736 |
+
body_names:
|
| 737 |
+
- trunk_base
|
| 738 |
+
camera_ids:
|
| 739 |
+
slice_start: null
|
| 740 |
+
slice_step: null
|
| 741 |
+
slice_stop: null
|
| 742 |
+
camera_names: null
|
| 743 |
+
geom_ids:
|
| 744 |
+
slice_start: null
|
| 745 |
+
slice_step: null
|
| 746 |
+
slice_stop: null
|
| 747 |
+
geom_names: null
|
| 748 |
+
joint_ids:
|
| 749 |
+
slice_start: null
|
| 750 |
+
slice_step: null
|
| 751 |
+
slice_stop: null
|
| 752 |
+
joint_names: null
|
| 753 |
+
light_ids:
|
| 754 |
+
slice_start: null
|
| 755 |
+
slice_step: null
|
| 756 |
+
slice_stop: null
|
| 757 |
+
light_names: null
|
| 758 |
+
material_ids:
|
| 759 |
+
slice_start: null
|
| 760 |
+
slice_step: null
|
| 761 |
+
slice_stop: null
|
| 762 |
+
material_names: null
|
| 763 |
+
name: robot
|
| 764 |
+
pair_ids:
|
| 765 |
+
slice_start: null
|
| 766 |
+
slice_step: null
|
| 767 |
+
slice_stop: null
|
| 768 |
+
pair_names: null
|
| 769 |
+
preserve_order: false
|
| 770 |
+
site_ids:
|
| 771 |
+
slice_start: null
|
| 772 |
+
slice_step: null
|
| 773 |
+
slice_stop: null
|
| 774 |
+
site_names: null
|
| 775 |
+
tendon_ids:
|
| 776 |
+
slice_start: null
|
| 777 |
+
slice_step: null
|
| 778 |
+
slice_stop: null
|
| 779 |
+
tendon_names: null
|
| 780 |
+
reset_action_history:
|
| 781 |
+
func: mjlab_microduck.tasks.mdp.reset_action_history
|
| 782 |
+
interval_range_s: null
|
| 783 |
+
is_global_time: false
|
| 784 |
+
min_step_count_between_reset: 0
|
| 785 |
+
mode: reset
|
| 786 |
+
reset_ball:
|
| 787 |
+
func: mjlab_microduck.tasks.mdp.reset_ball_in_front_of_foot
|
| 788 |
+
interval_range_s: null
|
| 789 |
+
is_global_time: false
|
| 790 |
+
min_step_count_between_reset: 0
|
| 791 |
+
mode: reset
|
| 792 |
+
params:
|
| 793 |
+
asset_name: ball
|
| 794 |
+
ball_radius: 0.035
|
| 795 |
+
noise_xy: 0.015
|
| 796 |
+
offset:
|
| 797 |
+
- 0.09
|
| 798 |
+
- 0.042
|
| 799 |
+
reset_base:
|
| 800 |
+
func: mjlab.envs.mdp.events.reset_root_state_uniform
|
| 801 |
+
interval_range_s: null
|
| 802 |
+
is_global_time: false
|
| 803 |
+
min_step_count_between_reset: 0
|
| 804 |
+
mode: reset
|
| 805 |
+
params:
|
| 806 |
+
pose_range:
|
| 807 |
+
x:
|
| 808 |
+
- -0.5
|
| 809 |
+
- 0.5
|
| 810 |
+
"y":
|
| 811 |
+
- -0.5
|
| 812 |
+
- 0.5
|
| 813 |
+
yaw:
|
| 814 |
+
- -3.14
|
| 815 |
+
- 3.14
|
| 816 |
+
z:
|
| 817 |
+
- 0.01
|
| 818 |
+
- 0.05
|
| 819 |
+
reset_robot_joints:
|
| 820 |
+
func: mjlab.envs.mdp.events.reset_joints_by_offset
|
| 821 |
+
interval_range_s: null
|
| 822 |
+
is_global_time: false
|
| 823 |
+
min_step_count_between_reset: 0
|
| 824 |
+
mode: reset
|
| 825 |
+
params:
|
| 826 |
+
asset_cfg:
|
| 827 |
+
actuator_ids:
|
| 828 |
+
slice_start: null
|
| 829 |
+
slice_step: null
|
| 830 |
+
slice_stop: null
|
| 831 |
+
actuator_names: null
|
| 832 |
+
body_ids:
|
| 833 |
+
slice_start: null
|
| 834 |
+
slice_step: null
|
| 835 |
+
slice_stop: null
|
| 836 |
+
body_names: null
|
| 837 |
+
camera_ids:
|
| 838 |
+
slice_start: null
|
| 839 |
+
slice_step: null
|
| 840 |
+
slice_stop: null
|
| 841 |
+
camera_names: null
|
| 842 |
+
geom_ids:
|
| 843 |
+
slice_start: null
|
| 844 |
+
slice_step: null
|
| 845 |
+
slice_stop: null
|
| 846 |
+
geom_names: null
|
| 847 |
+
joint_ids:
|
| 848 |
+
slice_start: null
|
| 849 |
+
slice_step: null
|
| 850 |
+
slice_stop: null
|
| 851 |
+
joint_names:
|
| 852 |
+
- .*
|
| 853 |
+
light_ids:
|
| 854 |
+
slice_start: null
|
| 855 |
+
slice_step: null
|
| 856 |
+
slice_stop: null
|
| 857 |
+
light_names: null
|
| 858 |
+
material_ids:
|
| 859 |
+
slice_start: null
|
| 860 |
+
slice_step: null
|
| 861 |
+
slice_stop: null
|
| 862 |
+
material_names: null
|
| 863 |
+
name: robot
|
| 864 |
+
pair_ids:
|
| 865 |
+
slice_start: null
|
| 866 |
+
slice_step: null
|
| 867 |
+
slice_stop: null
|
| 868 |
+
pair_names: null
|
| 869 |
+
preserve_order: false
|
| 870 |
+
site_ids:
|
| 871 |
+
slice_start: null
|
| 872 |
+
slice_step: null
|
| 873 |
+
slice_stop: null
|
| 874 |
+
site_names: null
|
| 875 |
+
tendon_ids:
|
| 876 |
+
slice_start: null
|
| 877 |
+
slice_step: null
|
| 878 |
+
slice_stop: null
|
| 879 |
+
tendon_names: null
|
| 880 |
+
position_range:
|
| 881 |
+
- -0.05
|
| 882 |
+
- 0.05
|
| 883 |
+
velocity_range:
|
| 884 |
+
- 0
|
| 885 |
+
- 0
|
| 886 |
+
set_ground_state:
|
| 887 |
+
func: mjlab_microduck.tasks.mdp.set_random_ground_state
|
| 888 |
+
interval_range_s: null
|
| 889 |
+
is_global_time: false
|
| 890 |
+
min_step_count_between_reset: 0
|
| 891 |
+
mode: reset
|
| 892 |
+
params:
|
| 893 |
+
face_down_prob: 0
|
| 894 |
+
face_up_prob: 0
|
| 895 |
+
sitting_prob: 0
|
| 896 |
+
sitting_tilt_max: 0.08726646259971647
|
| 897 |
+
standing_prob: 1
|
| 898 |
+
standing_z_max: 0.12
|
| 899 |
+
standing_z_min: 0.11
|
| 900 |
+
is_finite_horizon: false
|
| 901 |
+
metrics:
|
| 902 |
+
mean_action_acc:
|
| 903 |
+
func: mjlab.envs.mdp.metrics.mean_action_acc
|
| 904 |
+
per_substep: false
|
| 905 |
+
reduce: mean
|
| 906 |
+
observations:
|
| 907 |
+
actor:
|
| 908 |
+
concatenate_dim: -1
|
| 909 |
+
concatenate_terms: true
|
| 910 |
+
enable_corruption: true
|
| 911 |
+
flatten_history_dim: true
|
| 912 |
+
history_length: null
|
| 913 |
+
nan_check_per_term: true
|
| 914 |
+
nan_policy: disabled
|
| 915 |
+
terms:
|
| 916 |
+
actions:
|
| 917 |
+
clip: null
|
| 918 |
+
delay_hold_prob: 0
|
| 919 |
+
delay_max_lag: 0
|
| 920 |
+
delay_min_lag: 0
|
| 921 |
+
delay_per_env: true
|
| 922 |
+
delay_per_env_phase: true
|
| 923 |
+
delay_update_period: 0
|
| 924 |
+
flatten_history_dim: true
|
| 925 |
+
func: mjlab.envs.mdp.observations.last_action
|
| 926 |
+
history_length: 0
|
| 927 |
+
noise: null
|
| 928 |
+
scale: null
|
| 929 |
+
base_ang_vel:
|
| 930 |
+
clip: null
|
| 931 |
+
delay_hold_prob: 0
|
| 932 |
+
delay_max_lag: 1
|
| 933 |
+
delay_min_lag: 0
|
| 934 |
+
delay_per_env: true
|
| 935 |
+
delay_per_env_phase: true
|
| 936 |
+
delay_update_period: 64
|
| 937 |
+
flatten_history_dim: true
|
| 938 |
+
func: mjlab_microduck.tasks.mdp.base_ang_vel_imu_misaligned
|
| 939 |
+
history_length: 0
|
| 940 |
+
noise:
|
| 941 |
+
n_max: 0.03
|
| 942 |
+
n_min: -0.03
|
| 943 |
+
operation: add
|
| 944 |
+
params:
|
| 945 |
+
max_angle_deg: 6
|
| 946 |
+
scale: null
|
| 947 |
+
body_command:
|
| 948 |
+
clip: null
|
| 949 |
+
delay_hold_prob: 0
|
| 950 |
+
delay_max_lag: 0
|
| 951 |
+
delay_min_lag: 0
|
| 952 |
+
delay_per_env: true
|
| 953 |
+
delay_per_env_phase: true
|
| 954 |
+
delay_update_period: 0
|
| 955 |
+
flatten_history_dim: true
|
| 956 |
+
func: mjlab_microduck.tasks.mdp.zero_command_padding
|
| 957 |
+
history_length: 0
|
| 958 |
+
noise: null
|
| 959 |
+
params:
|
| 960 |
+
dim: 6
|
| 961 |
+
scale: null
|
| 962 |
+
command:
|
| 963 |
+
clip: null
|
| 964 |
+
delay_hold_prob: 0
|
| 965 |
+
delay_max_lag: 0
|
| 966 |
+
delay_min_lag: 0
|
| 967 |
+
delay_per_env: true
|
| 968 |
+
delay_per_env_phase: true
|
| 969 |
+
delay_update_period: 0
|
| 970 |
+
flatten_history_dim: true
|
| 971 |
+
func: mjlab.envs.mdp.observations.generated_commands
|
| 972 |
+
history_length: 0
|
| 973 |
+
noise: null
|
| 974 |
+
params:
|
| 975 |
+
command_name: twist
|
| 976 |
+
scale: null
|
| 977 |
+
head_command:
|
| 978 |
+
clip: null
|
| 979 |
+
delay_hold_prob: 0
|
| 980 |
+
delay_max_lag: 0
|
| 981 |
+
delay_min_lag: 0
|
| 982 |
+
delay_per_env: true
|
| 983 |
+
delay_per_env_phase: true
|
| 984 |
+
delay_update_period: 0
|
| 985 |
+
flatten_history_dim: true
|
| 986 |
+
func: mjlab_microduck.tasks.mdp.zero_command_padding
|
| 987 |
+
history_length: 0
|
| 988 |
+
noise: null
|
| 989 |
+
params:
|
| 990 |
+
dim: 4
|
| 991 |
+
scale: null
|
| 992 |
+
joint_pos:
|
| 993 |
+
clip: null
|
| 994 |
+
delay_hold_prob: 0
|
| 995 |
+
delay_max_lag: 0
|
| 996 |
+
delay_min_lag: 0
|
| 997 |
+
delay_per_env: true
|
| 998 |
+
delay_per_env_phase: true
|
| 999 |
+
delay_update_period: 0
|
| 1000 |
+
flatten_history_dim: true
|
| 1001 |
+
func: mjlab.envs.mdp.observations.joint_pos_rel
|
| 1002 |
+
history_length: 0
|
| 1003 |
+
noise:
|
| 1004 |
+
n_max: 0.001
|
| 1005 |
+
n_min: -0.001
|
| 1006 |
+
operation: add
|
| 1007 |
+
params:
|
| 1008 |
+
asset_cfg:
|
| 1009 |
+
actuator_ids:
|
| 1010 |
+
slice_start: null
|
| 1011 |
+
slice_step: null
|
| 1012 |
+
slice_stop: null
|
| 1013 |
+
actuator_names: null
|
| 1014 |
+
body_ids:
|
| 1015 |
+
slice_start: null
|
| 1016 |
+
slice_step: null
|
| 1017 |
+
slice_stop: null
|
| 1018 |
+
body_names: null
|
| 1019 |
+
camera_ids:
|
| 1020 |
+
slice_start: null
|
| 1021 |
+
slice_step: null
|
| 1022 |
+
slice_stop: null
|
| 1023 |
+
camera_names: null
|
| 1024 |
+
geom_ids:
|
| 1025 |
+
slice_start: null
|
| 1026 |
+
slice_step: null
|
| 1027 |
+
slice_stop: null
|
| 1028 |
+
geom_names: null
|
| 1029 |
+
joint_ids:
|
| 1030 |
+
slice_start: null
|
| 1031 |
+
slice_step: null
|
| 1032 |
+
slice_stop: null
|
| 1033 |
+
joint_names:
|
| 1034 |
+
- ^(?!passive_).*
|
| 1035 |
+
light_ids:
|
| 1036 |
+
slice_start: null
|
| 1037 |
+
slice_step: null
|
| 1038 |
+
slice_stop: null
|
| 1039 |
+
light_names: null
|
| 1040 |
+
material_ids:
|
| 1041 |
+
slice_start: null
|
| 1042 |
+
slice_step: null
|
| 1043 |
+
slice_stop: null
|
| 1044 |
+
material_names: null
|
| 1045 |
+
name: robot
|
| 1046 |
+
pair_ids:
|
| 1047 |
+
slice_start: null
|
| 1048 |
+
slice_step: null
|
| 1049 |
+
slice_stop: null
|
| 1050 |
+
pair_names: null
|
| 1051 |
+
preserve_order: false
|
| 1052 |
+
site_ids:
|
| 1053 |
+
slice_start: null
|
| 1054 |
+
slice_step: null
|
| 1055 |
+
slice_stop: null
|
| 1056 |
+
site_names: null
|
| 1057 |
+
tendon_ids:
|
| 1058 |
+
slice_start: null
|
| 1059 |
+
slice_step: null
|
| 1060 |
+
slice_stop: null
|
| 1061 |
+
tendon_names: null
|
| 1062 |
+
biased: true
|
| 1063 |
+
scale: null
|
| 1064 |
+
joint_vel:
|
| 1065 |
+
clip: null
|
| 1066 |
+
delay_hold_prob: 0
|
| 1067 |
+
delay_max_lag: 1
|
| 1068 |
+
delay_min_lag: 1
|
| 1069 |
+
delay_per_env: true
|
| 1070 |
+
delay_per_env_phase: true
|
| 1071 |
+
delay_update_period: 0
|
| 1072 |
+
flatten_history_dim: true
|
| 1073 |
+
func: mjlab.envs.mdp.observations.joint_vel_rel
|
| 1074 |
+
history_length: 0
|
| 1075 |
+
noise:
|
| 1076 |
+
n_max: 0.25
|
| 1077 |
+
n_min: -0.25
|
| 1078 |
+
operation: add
|
| 1079 |
+
params:
|
| 1080 |
+
asset_cfg:
|
| 1081 |
+
actuator_ids:
|
| 1082 |
+
slice_start: null
|
| 1083 |
+
slice_step: null
|
| 1084 |
+
slice_stop: null
|
| 1085 |
+
actuator_names: null
|
| 1086 |
+
body_ids:
|
| 1087 |
+
slice_start: null
|
| 1088 |
+
slice_step: null
|
| 1089 |
+
slice_stop: null
|
| 1090 |
+
body_names: null
|
| 1091 |
+
camera_ids:
|
| 1092 |
+
slice_start: null
|
| 1093 |
+
slice_step: null
|
| 1094 |
+
slice_stop: null
|
| 1095 |
+
camera_names: null
|
| 1096 |
+
geom_ids:
|
| 1097 |
+
slice_start: null
|
| 1098 |
+
slice_step: null
|
| 1099 |
+
slice_stop: null
|
| 1100 |
+
geom_names: null
|
| 1101 |
+
joint_ids:
|
| 1102 |
+
slice_start: null
|
| 1103 |
+
slice_step: null
|
| 1104 |
+
slice_stop: null
|
| 1105 |
+
joint_names:
|
| 1106 |
+
- ^(?!passive_).*
|
| 1107 |
+
light_ids:
|
| 1108 |
+
slice_start: null
|
| 1109 |
+
slice_step: null
|
| 1110 |
+
slice_stop: null
|
| 1111 |
+
light_names: null
|
| 1112 |
+
material_ids:
|
| 1113 |
+
slice_start: null
|
| 1114 |
+
slice_step: null
|
| 1115 |
+
slice_stop: null
|
| 1116 |
+
material_names: null
|
| 1117 |
+
name: robot
|
| 1118 |
+
pair_ids:
|
| 1119 |
+
slice_start: null
|
| 1120 |
+
slice_step: null
|
| 1121 |
+
slice_stop: null
|
| 1122 |
+
pair_names: null
|
| 1123 |
+
preserve_order: false
|
| 1124 |
+
site_ids:
|
| 1125 |
+
slice_start: null
|
| 1126 |
+
slice_step: null
|
| 1127 |
+
slice_stop: null
|
| 1128 |
+
site_names: null
|
| 1129 |
+
tendon_ids:
|
| 1130 |
+
slice_start: null
|
| 1131 |
+
slice_step: null
|
| 1132 |
+
slice_stop: null
|
| 1133 |
+
tendon_names: null
|
| 1134 |
+
scale: null
|
| 1135 |
+
projected_gravity:
|
| 1136 |
+
clip: null
|
| 1137 |
+
delay_hold_prob: 0
|
| 1138 |
+
delay_max_lag: 1
|
| 1139 |
+
delay_min_lag: 0
|
| 1140 |
+
delay_per_env: true
|
| 1141 |
+
delay_per_env_phase: true
|
| 1142 |
+
delay_update_period: 64
|
| 1143 |
+
flatten_history_dim: true
|
| 1144 |
+
func: mjlab_microduck.tasks.mdp.projected_gravity_imu_misaligned
|
| 1145 |
+
history_length: 0
|
| 1146 |
+
noise:
|
| 1147 |
+
n_max: 0.01
|
| 1148 |
+
n_min: -0.01
|
| 1149 |
+
operation: add
|
| 1150 |
+
params:
|
| 1151 |
+
max_angle_deg: 6
|
| 1152 |
+
scale: null
|
| 1153 |
+
critic:
|
| 1154 |
+
concatenate_dim: -1
|
| 1155 |
+
concatenate_terms: true
|
| 1156 |
+
enable_corruption: false
|
| 1157 |
+
flatten_history_dim: true
|
| 1158 |
+
history_length: null
|
| 1159 |
+
nan_check_per_term: true
|
| 1160 |
+
nan_policy: disabled
|
| 1161 |
+
terms:
|
| 1162 |
+
actions:
|
| 1163 |
+
clip: null
|
| 1164 |
+
delay_hold_prob: 0
|
| 1165 |
+
delay_max_lag: 0
|
| 1166 |
+
delay_min_lag: 0
|
| 1167 |
+
delay_per_env: true
|
| 1168 |
+
delay_per_env_phase: true
|
| 1169 |
+
delay_update_period: 0
|
| 1170 |
+
flatten_history_dim: true
|
| 1171 |
+
func: mjlab.envs.mdp.observations.last_action
|
| 1172 |
+
history_length: 0
|
| 1173 |
+
noise: null
|
| 1174 |
+
scale: null
|
| 1175 |
+
ball_position:
|
| 1176 |
+
clip: null
|
| 1177 |
+
delay_hold_prob: 0
|
| 1178 |
+
delay_max_lag: 0
|
| 1179 |
+
delay_min_lag: 0
|
| 1180 |
+
delay_per_env: true
|
| 1181 |
+
delay_per_env_phase: true
|
| 1182 |
+
delay_update_period: 0
|
| 1183 |
+
flatten_history_dim: true
|
| 1184 |
+
func: mjlab_microduck.tasks.mdp.ball_pos_in_base
|
| 1185 |
+
history_length: 0
|
| 1186 |
+
noise: null
|
| 1187 |
+
params:
|
| 1188 |
+
asset_name: ball
|
| 1189 |
+
scale: null
|
| 1190 |
+
ball_velocity:
|
| 1191 |
+
clip: null
|
| 1192 |
+
delay_hold_prob: 0
|
| 1193 |
+
delay_max_lag: 0
|
| 1194 |
+
delay_min_lag: 0
|
| 1195 |
+
delay_per_env: true
|
| 1196 |
+
delay_per_env_phase: true
|
| 1197 |
+
delay_update_period: 0
|
| 1198 |
+
flatten_history_dim: true
|
| 1199 |
+
func: mjlab_microduck.tasks.mdp.ball_vel_in_base
|
| 1200 |
+
history_length: 0
|
| 1201 |
+
noise: null
|
| 1202 |
+
params:
|
| 1203 |
+
asset_name: ball
|
| 1204 |
+
scale: null
|
| 1205 |
+
base_ang_vel:
|
| 1206 |
+
clip: null
|
| 1207 |
+
delay_hold_prob: 0
|
| 1208 |
+
delay_max_lag: 0
|
| 1209 |
+
delay_min_lag: 0
|
| 1210 |
+
delay_per_env: true
|
| 1211 |
+
delay_per_env_phase: true
|
| 1212 |
+
delay_update_period: 0
|
| 1213 |
+
flatten_history_dim: true
|
| 1214 |
+
func: mjlab.envs.mdp.observations.builtin_sensor
|
| 1215 |
+
history_length: 0
|
| 1216 |
+
noise:
|
| 1217 |
+
n_max: 0.2
|
| 1218 |
+
n_min: -0.2
|
| 1219 |
+
operation: add
|
| 1220 |
+
params:
|
| 1221 |
+
sensor_name: robot/imu_ang_vel
|
| 1222 |
+
scale: null
|
| 1223 |
+
base_lin_vel:
|
| 1224 |
+
clip: null
|
| 1225 |
+
delay_hold_prob: 0
|
| 1226 |
+
delay_max_lag: 0
|
| 1227 |
+
delay_min_lag: 0
|
| 1228 |
+
delay_per_env: true
|
| 1229 |
+
delay_per_env_phase: true
|
| 1230 |
+
delay_update_period: 0
|
| 1231 |
+
flatten_history_dim: true
|
| 1232 |
+
func: mjlab.envs.mdp.observations.base_lin_vel
|
| 1233 |
+
history_length: 0
|
| 1234 |
+
noise: null
|
| 1235 |
+
scale: 1
|
| 1236 |
+
body_command:
|
| 1237 |
+
clip: null
|
| 1238 |
+
delay_hold_prob: 0
|
| 1239 |
+
delay_max_lag: 0
|
| 1240 |
+
delay_min_lag: 0
|
| 1241 |
+
delay_per_env: true
|
| 1242 |
+
delay_per_env_phase: true
|
| 1243 |
+
delay_update_period: 0
|
| 1244 |
+
flatten_history_dim: true
|
| 1245 |
+
func: mjlab_microduck.tasks.mdp.zero_command_padding
|
| 1246 |
+
history_length: 0
|
| 1247 |
+
noise: null
|
| 1248 |
+
params:
|
| 1249 |
+
dim: 6
|
| 1250 |
+
scale: null
|
| 1251 |
+
command:
|
| 1252 |
+
clip: null
|
| 1253 |
+
delay_hold_prob: 0
|
| 1254 |
+
delay_max_lag: 0
|
| 1255 |
+
delay_min_lag: 0
|
| 1256 |
+
delay_per_env: true
|
| 1257 |
+
delay_per_env_phase: true
|
| 1258 |
+
delay_update_period: 0
|
| 1259 |
+
flatten_history_dim: true
|
| 1260 |
+
func: mjlab.envs.mdp.observations.generated_commands
|
| 1261 |
+
history_length: 0
|
| 1262 |
+
noise: null
|
| 1263 |
+
params:
|
| 1264 |
+
command_name: twist
|
| 1265 |
+
scale: null
|
| 1266 |
+
foot_air_time:
|
| 1267 |
+
clip: null
|
| 1268 |
+
delay_hold_prob: 0
|
| 1269 |
+
delay_max_lag: 0
|
| 1270 |
+
delay_min_lag: 0
|
| 1271 |
+
delay_per_env: true
|
| 1272 |
+
delay_per_env_phase: true
|
| 1273 |
+
delay_update_period: 0
|
| 1274 |
+
flatten_history_dim: true
|
| 1275 |
+
func: mjlab.tasks.velocity.mdp.observations.foot_air_time
|
| 1276 |
+
history_length: 0
|
| 1277 |
+
noise: null
|
| 1278 |
+
params:
|
| 1279 |
+
sensor_name: feet_ground_contact
|
| 1280 |
+
scale: null
|
| 1281 |
+
foot_contact:
|
| 1282 |
+
clip: null
|
| 1283 |
+
delay_hold_prob: 0
|
| 1284 |
+
delay_max_lag: 0
|
| 1285 |
+
delay_min_lag: 0
|
| 1286 |
+
delay_per_env: true
|
| 1287 |
+
delay_per_env_phase: true
|
| 1288 |
+
delay_update_period: 0
|
| 1289 |
+
flatten_history_dim: true
|
| 1290 |
+
func: mjlab.tasks.velocity.mdp.observations.foot_contact
|
| 1291 |
+
history_length: 0
|
| 1292 |
+
noise: null
|
| 1293 |
+
params:
|
| 1294 |
+
sensor_name: feet_ground_contact
|
| 1295 |
+
scale: null
|
| 1296 |
+
foot_contact_forces:
|
| 1297 |
+
clip: null
|
| 1298 |
+
delay_hold_prob: 0
|
| 1299 |
+
delay_max_lag: 0
|
| 1300 |
+
delay_min_lag: 0
|
| 1301 |
+
delay_per_env: true
|
| 1302 |
+
delay_per_env_phase: true
|
| 1303 |
+
delay_update_period: 0
|
| 1304 |
+
flatten_history_dim: true
|
| 1305 |
+
func: mjlab.tasks.velocity.mdp.observations.foot_contact_forces
|
| 1306 |
+
history_length: 0
|
| 1307 |
+
noise: null
|
| 1308 |
+
params:
|
| 1309 |
+
sensor_name: feet_ground_contact
|
| 1310 |
+
scale: null
|
| 1311 |
+
head_command:
|
| 1312 |
+
clip: null
|
| 1313 |
+
delay_hold_prob: 0
|
| 1314 |
+
delay_max_lag: 0
|
| 1315 |
+
delay_min_lag: 0
|
| 1316 |
+
delay_per_env: true
|
| 1317 |
+
delay_per_env_phase: true
|
| 1318 |
+
delay_update_period: 0
|
| 1319 |
+
flatten_history_dim: true
|
| 1320 |
+
func: mjlab_microduck.tasks.mdp.zero_command_padding
|
| 1321 |
+
history_length: 0
|
| 1322 |
+
noise: null
|
| 1323 |
+
params:
|
| 1324 |
+
dim: 4
|
| 1325 |
+
scale: null
|
| 1326 |
+
joint_pos:
|
| 1327 |
+
clip: null
|
| 1328 |
+
delay_hold_prob: 0
|
| 1329 |
+
delay_max_lag: 0
|
| 1330 |
+
delay_min_lag: 0
|
| 1331 |
+
delay_per_env: true
|
| 1332 |
+
delay_per_env_phase: true
|
| 1333 |
+
delay_update_period: 0
|
| 1334 |
+
flatten_history_dim: true
|
| 1335 |
+
func: mjlab.envs.mdp.observations.joint_pos_rel
|
| 1336 |
+
history_length: 0
|
| 1337 |
+
noise:
|
| 1338 |
+
n_max: 0.001
|
| 1339 |
+
n_min: -0.001
|
| 1340 |
+
operation: add
|
| 1341 |
+
params:
|
| 1342 |
+
asset_cfg:
|
| 1343 |
+
actuator_ids:
|
| 1344 |
+
slice_start: null
|
| 1345 |
+
slice_step: null
|
| 1346 |
+
slice_stop: null
|
| 1347 |
+
actuator_names: null
|
| 1348 |
+
body_ids:
|
| 1349 |
+
slice_start: null
|
| 1350 |
+
slice_step: null
|
| 1351 |
+
slice_stop: null
|
| 1352 |
+
body_names: null
|
| 1353 |
+
camera_ids:
|
| 1354 |
+
slice_start: null
|
| 1355 |
+
slice_step: null
|
| 1356 |
+
slice_stop: null
|
| 1357 |
+
camera_names: null
|
| 1358 |
+
geom_ids:
|
| 1359 |
+
slice_start: null
|
| 1360 |
+
slice_step: null
|
| 1361 |
+
slice_stop: null
|
| 1362 |
+
geom_names: null
|
| 1363 |
+
joint_ids:
|
| 1364 |
+
slice_start: null
|
| 1365 |
+
slice_step: null
|
| 1366 |
+
slice_stop: null
|
| 1367 |
+
joint_names:
|
| 1368 |
+
- ^(?!passive_).*
|
| 1369 |
+
light_ids:
|
| 1370 |
+
slice_start: null
|
| 1371 |
+
slice_step: null
|
| 1372 |
+
slice_stop: null
|
| 1373 |
+
light_names: null
|
| 1374 |
+
material_ids:
|
| 1375 |
+
slice_start: null
|
| 1376 |
+
slice_step: null
|
| 1377 |
+
slice_stop: null
|
| 1378 |
+
material_names: null
|
| 1379 |
+
name: robot
|
| 1380 |
+
pair_ids:
|
| 1381 |
+
slice_start: null
|
| 1382 |
+
slice_step: null
|
| 1383 |
+
slice_stop: null
|
| 1384 |
+
pair_names: null
|
| 1385 |
+
preserve_order: false
|
| 1386 |
+
site_ids:
|
| 1387 |
+
slice_start: null
|
| 1388 |
+
slice_step: null
|
| 1389 |
+
slice_stop: null
|
| 1390 |
+
site_names: null
|
| 1391 |
+
tendon_ids:
|
| 1392 |
+
slice_start: null
|
| 1393 |
+
slice_step: null
|
| 1394 |
+
slice_stop: null
|
| 1395 |
+
tendon_names: null
|
| 1396 |
+
biased: false
|
| 1397 |
+
scale: null
|
| 1398 |
+
joint_vel:
|
| 1399 |
+
clip: null
|
| 1400 |
+
delay_hold_prob: 0
|
| 1401 |
+
delay_max_lag: 0
|
| 1402 |
+
delay_min_lag: 0
|
| 1403 |
+
delay_per_env: true
|
| 1404 |
+
delay_per_env_phase: true
|
| 1405 |
+
delay_update_period: 0
|
| 1406 |
+
flatten_history_dim: true
|
| 1407 |
+
func: mjlab.envs.mdp.observations.joint_vel_rel
|
| 1408 |
+
history_length: 0
|
| 1409 |
+
noise:
|
| 1410 |
+
n_max: 0.25
|
| 1411 |
+
n_min: -0.25
|
| 1412 |
+
operation: add
|
| 1413 |
+
params:
|
| 1414 |
+
asset_cfg:
|
| 1415 |
+
actuator_ids:
|
| 1416 |
+
slice_start: null
|
| 1417 |
+
slice_step: null
|
| 1418 |
+
slice_stop: null
|
| 1419 |
+
actuator_names: null
|
| 1420 |
+
body_ids:
|
| 1421 |
+
slice_start: null
|
| 1422 |
+
slice_step: null
|
| 1423 |
+
slice_stop: null
|
| 1424 |
+
body_names: null
|
| 1425 |
+
camera_ids:
|
| 1426 |
+
slice_start: null
|
| 1427 |
+
slice_step: null
|
| 1428 |
+
slice_stop: null
|
| 1429 |
+
camera_names: null
|
| 1430 |
+
geom_ids:
|
| 1431 |
+
slice_start: null
|
| 1432 |
+
slice_step: null
|
| 1433 |
+
slice_stop: null
|
| 1434 |
+
geom_names: null
|
| 1435 |
+
joint_ids:
|
| 1436 |
+
slice_start: null
|
| 1437 |
+
slice_step: null
|
| 1438 |
+
slice_stop: null
|
| 1439 |
+
joint_names:
|
| 1440 |
+
- ^(?!passive_).*
|
| 1441 |
+
light_ids:
|
| 1442 |
+
slice_start: null
|
| 1443 |
+
slice_step: null
|
| 1444 |
+
slice_stop: null
|
| 1445 |
+
light_names: null
|
| 1446 |
+
material_ids:
|
| 1447 |
+
slice_start: null
|
| 1448 |
+
slice_step: null
|
| 1449 |
+
slice_stop: null
|
| 1450 |
+
material_names: null
|
| 1451 |
+
name: robot
|
| 1452 |
+
pair_ids:
|
| 1453 |
+
slice_start: null
|
| 1454 |
+
slice_step: null
|
| 1455 |
+
slice_stop: null
|
| 1456 |
+
pair_names: null
|
| 1457 |
+
preserve_order: false
|
| 1458 |
+
site_ids:
|
| 1459 |
+
slice_start: null
|
| 1460 |
+
slice_step: null
|
| 1461 |
+
slice_stop: null
|
| 1462 |
+
site_names: null
|
| 1463 |
+
tendon_ids:
|
| 1464 |
+
slice_start: null
|
| 1465 |
+
slice_step: null
|
| 1466 |
+
slice_stop: null
|
| 1467 |
+
tendon_names: null
|
| 1468 |
+
scale: null
|
| 1469 |
+
projected_gravity:
|
| 1470 |
+
clip: null
|
| 1471 |
+
delay_hold_prob: 0
|
| 1472 |
+
delay_max_lag: 0
|
| 1473 |
+
delay_min_lag: 0
|
| 1474 |
+
delay_per_env: true
|
| 1475 |
+
delay_per_env_phase: true
|
| 1476 |
+
delay_update_period: 0
|
| 1477 |
+
flatten_history_dim: true
|
| 1478 |
+
func: mjlab.envs.mdp.observations.projected_gravity
|
| 1479 |
+
history_length: 0
|
| 1480 |
+
noise:
|
| 1481 |
+
n_max: 0.05
|
| 1482 |
+
n_min: -0.05
|
| 1483 |
+
operation: add
|
| 1484 |
+
scale: null
|
| 1485 |
+
rewards:
|
| 1486 |
+
action_rate_l2:
|
| 1487 |
+
func: mjlab.envs.mdp.rewards.action_rate_l2
|
| 1488 |
+
weight: -0.1
|
| 1489 |
+
angular_momentum:
|
| 1490 |
+
func: mjlab.tasks.velocity.mdp.rewards.angular_momentum_penalty
|
| 1491 |
+
params:
|
| 1492 |
+
sensor_name: robot/root_angmom
|
| 1493 |
+
weight: -0.02
|
| 1494 |
+
ball_forward_velocity:
|
| 1495 |
+
func: mjlab_microduck.tasks.mdp.ball_forward_velocity
|
| 1496 |
+
params:
|
| 1497 |
+
asset_name: ball
|
| 1498 |
+
max_speed: 1
|
| 1499 |
+
weight: 12
|
| 1500 |
+
ball_speed_overshoot:
|
| 1501 |
+
func: mjlab_microduck.tasks.mdp.ball_speed_overshoot_penalty
|
| 1502 |
+
params:
|
| 1503 |
+
asset_name: ball
|
| 1504 |
+
target_speed: 1
|
| 1505 |
+
weight: -4
|
| 1506 |
+
body_ang_vel:
|
| 1507 |
+
func: mjlab.tasks.velocity.mdp.rewards.body_angular_velocity_penalty
|
| 1508 |
+
params:
|
| 1509 |
+
asset_cfg:
|
| 1510 |
+
actuator_ids:
|
| 1511 |
+
slice_start: null
|
| 1512 |
+
slice_step: null
|
| 1513 |
+
slice_stop: null
|
| 1514 |
+
actuator_names: null
|
| 1515 |
+
body_ids:
|
| 1516 |
+
slice_start: null
|
| 1517 |
+
slice_step: null
|
| 1518 |
+
slice_stop: null
|
| 1519 |
+
body_names:
|
| 1520 |
+
- trunk_base
|
| 1521 |
+
camera_ids:
|
| 1522 |
+
slice_start: null
|
| 1523 |
+
slice_step: null
|
| 1524 |
+
slice_stop: null
|
| 1525 |
+
camera_names: null
|
| 1526 |
+
geom_ids:
|
| 1527 |
+
slice_start: null
|
| 1528 |
+
slice_step: null
|
| 1529 |
+
slice_stop: null
|
| 1530 |
+
geom_names: null
|
| 1531 |
+
joint_ids:
|
| 1532 |
+
slice_start: null
|
| 1533 |
+
slice_step: null
|
| 1534 |
+
slice_stop: null
|
| 1535 |
+
joint_names: null
|
| 1536 |
+
light_ids:
|
| 1537 |
+
slice_start: null
|
| 1538 |
+
slice_step: null
|
| 1539 |
+
slice_stop: null
|
| 1540 |
+
light_names: null
|
| 1541 |
+
material_ids:
|
| 1542 |
+
slice_start: null
|
| 1543 |
+
slice_step: null
|
| 1544 |
+
slice_stop: null
|
| 1545 |
+
material_names: null
|
| 1546 |
+
name: robot
|
| 1547 |
+
pair_ids:
|
| 1548 |
+
slice_start: null
|
| 1549 |
+
slice_step: null
|
| 1550 |
+
slice_stop: null
|
| 1551 |
+
pair_names: null
|
| 1552 |
+
preserve_order: false
|
| 1553 |
+
site_ids:
|
| 1554 |
+
slice_start: null
|
| 1555 |
+
slice_step: null
|
| 1556 |
+
slice_stop: null
|
| 1557 |
+
site_names: null
|
| 1558 |
+
tendon_ids:
|
| 1559 |
+
slice_start: null
|
| 1560 |
+
slice_step: null
|
| 1561 |
+
slice_stop: null
|
| 1562 |
+
tendon_names: null
|
| 1563 |
+
weight: -0.05
|
| 1564 |
+
dof_pos_limits:
|
| 1565 |
+
func: mjlab.envs.mdp.rewards.joint_pos_limits
|
| 1566 |
+
weight: -1
|
| 1567 |
+
height_stand:
|
| 1568 |
+
func: mjlab_microduck.tasks.mdp.height_target_gaussian
|
| 1569 |
+
params:
|
| 1570 |
+
asset_cfg:
|
| 1571 |
+
actuator_ids:
|
| 1572 |
+
slice_start: null
|
| 1573 |
+
slice_step: null
|
| 1574 |
+
slice_stop: null
|
| 1575 |
+
actuator_names: null
|
| 1576 |
+
body_ids:
|
| 1577 |
+
slice_start: null
|
| 1578 |
+
slice_step: null
|
| 1579 |
+
slice_stop: null
|
| 1580 |
+
body_names:
|
| 1581 |
+
- trunk_base
|
| 1582 |
+
camera_ids:
|
| 1583 |
+
slice_start: null
|
| 1584 |
+
slice_step: null
|
| 1585 |
+
slice_stop: null
|
| 1586 |
+
camera_names: null
|
| 1587 |
+
geom_ids:
|
| 1588 |
+
slice_start: null
|
| 1589 |
+
slice_step: null
|
| 1590 |
+
slice_stop: null
|
| 1591 |
+
geom_names: null
|
| 1592 |
+
joint_ids:
|
| 1593 |
+
slice_start: null
|
| 1594 |
+
slice_step: null
|
| 1595 |
+
slice_stop: null
|
| 1596 |
+
joint_names: null
|
| 1597 |
+
light_ids:
|
| 1598 |
+
slice_start: null
|
| 1599 |
+
slice_step: null
|
| 1600 |
+
slice_stop: null
|
| 1601 |
+
light_names: null
|
| 1602 |
+
material_ids:
|
| 1603 |
+
slice_start: null
|
| 1604 |
+
slice_step: null
|
| 1605 |
+
slice_stop: null
|
| 1606 |
+
material_names: null
|
| 1607 |
+
name: robot
|
| 1608 |
+
pair_ids:
|
| 1609 |
+
slice_start: null
|
| 1610 |
+
slice_step: null
|
| 1611 |
+
slice_stop: null
|
| 1612 |
+
pair_names: null
|
| 1613 |
+
preserve_order: false
|
| 1614 |
+
site_ids:
|
| 1615 |
+
slice_start: null
|
| 1616 |
+
slice_step: null
|
| 1617 |
+
slice_stop: null
|
| 1618 |
+
site_names: null
|
| 1619 |
+
tendon_ids:
|
| 1620 |
+
slice_start: null
|
| 1621 |
+
slice_step: null
|
| 1622 |
+
slice_stop: null
|
| 1623 |
+
tendon_names: null
|
| 1624 |
+
std: 0.04
|
| 1625 |
+
target_height: 0.115
|
| 1626 |
+
weight: 1
|
| 1627 |
+
pose_stand_legs:
|
| 1628 |
+
func: mjlab_microduck.tasks.mdp.pose_target_match
|
| 1629 |
+
params:
|
| 1630 |
+
joint_indices:
|
| 1631 |
+
- 0
|
| 1632 |
+
- 1
|
| 1633 |
+
- 2
|
| 1634 |
+
- 3
|
| 1635 |
+
- 4
|
| 1636 |
+
- 9
|
| 1637 |
+
- 10
|
| 1638 |
+
- 11
|
| 1639 |
+
- 12
|
| 1640 |
+
- 13
|
| 1641 |
+
std: 0.5
|
| 1642 |
+
target_overrides: null
|
| 1643 |
+
weight: 2
|
| 1644 |
+
pose_stand_neck:
|
| 1645 |
+
func: mjlab_microduck.tasks.mdp.pose_target_match
|
| 1646 |
+
params:
|
| 1647 |
+
joint_indices:
|
| 1648 |
+
- 5
|
| 1649 |
+
- 6
|
| 1650 |
+
- 7
|
| 1651 |
+
- 8
|
| 1652 |
+
std: 0.3
|
| 1653 |
+
target_overrides: null
|
| 1654 |
+
weight: 1
|
| 1655 |
+
self_collisions:
|
| 1656 |
+
func: mjlab.tasks.velocity.mdp.rewards.self_collision_cost
|
| 1657 |
+
params:
|
| 1658 |
+
sensor_name: self_collision
|
| 1659 |
+
weight: -1
|
| 1660 |
+
support_foot_grounded:
|
| 1661 |
+
func: mjlab_microduck.tasks.mdp.single_foot_grounded_reward
|
| 1662 |
+
params:
|
| 1663 |
+
sensor_name: support_foot_ground_contact
|
| 1664 |
+
weight: 2
|
| 1665 |
+
upright:
|
| 1666 |
+
func: mjlab.tasks.velocity.mdp.rewards.upright
|
| 1667 |
+
params:
|
| 1668 |
+
asset_cfg:
|
| 1669 |
+
actuator_ids:
|
| 1670 |
+
slice_start: null
|
| 1671 |
+
slice_step: null
|
| 1672 |
+
slice_stop: null
|
| 1673 |
+
actuator_names: null
|
| 1674 |
+
body_ids:
|
| 1675 |
+
slice_start: null
|
| 1676 |
+
slice_step: null
|
| 1677 |
+
slice_stop: null
|
| 1678 |
+
body_names:
|
| 1679 |
+
- trunk_base
|
| 1680 |
+
camera_ids:
|
| 1681 |
+
slice_start: null
|
| 1682 |
+
slice_step: null
|
| 1683 |
+
slice_stop: null
|
| 1684 |
+
camera_names: null
|
| 1685 |
+
geom_ids:
|
| 1686 |
+
slice_start: null
|
| 1687 |
+
slice_step: null
|
| 1688 |
+
slice_stop: null
|
| 1689 |
+
geom_names: null
|
| 1690 |
+
joint_ids:
|
| 1691 |
+
slice_start: null
|
| 1692 |
+
slice_step: null
|
| 1693 |
+
slice_stop: null
|
| 1694 |
+
joint_names: null
|
| 1695 |
+
light_ids:
|
| 1696 |
+
slice_start: null
|
| 1697 |
+
slice_step: null
|
| 1698 |
+
slice_stop: null
|
| 1699 |
+
light_names: null
|
| 1700 |
+
material_ids:
|
| 1701 |
+
slice_start: null
|
| 1702 |
+
slice_step: null
|
| 1703 |
+
slice_stop: null
|
| 1704 |
+
material_names: null
|
| 1705 |
+
name: robot
|
| 1706 |
+
pair_ids:
|
| 1707 |
+
slice_start: null
|
| 1708 |
+
slice_step: null
|
| 1709 |
+
slice_stop: null
|
| 1710 |
+
pair_names: null
|
| 1711 |
+
preserve_order: false
|
| 1712 |
+
site_ids:
|
| 1713 |
+
slice_start: null
|
| 1714 |
+
slice_step: null
|
| 1715 |
+
slice_stop: null
|
| 1716 |
+
site_names: null
|
| 1717 |
+
tendon_ids:
|
| 1718 |
+
slice_start: null
|
| 1719 |
+
slice_step: null
|
| 1720 |
+
slice_stop: null
|
| 1721 |
+
tendon_names: null
|
| 1722 |
+
std: 0.22360679774997896
|
| 1723 |
+
weight: 2
|
| 1724 |
+
scale_rewards_by_dt: true
|
| 1725 |
+
scene:
|
| 1726 |
+
entities:
|
| 1727 |
+
ball:
|
| 1728 |
+
articulation: null
|
| 1729 |
+
cameras: []
|
| 1730 |
+
collisions: []
|
| 1731 |
+
init_state:
|
| 1732 |
+
ang_vel:
|
| 1733 |
+
- 0
|
| 1734 |
+
- 0
|
| 1735 |
+
- 0
|
| 1736 |
+
joint_pos:
|
| 1737 |
+
.*: 0
|
| 1738 |
+
joint_vel:
|
| 1739 |
+
.*: 0
|
| 1740 |
+
lin_vel:
|
| 1741 |
+
- 0
|
| 1742 |
+
- 0
|
| 1743 |
+
- 0
|
| 1744 |
+
pos:
|
| 1745 |
+
- 0.3
|
| 1746 |
+
- 0
|
| 1747 |
+
- 0.035
|
| 1748 |
+
rot:
|
| 1749 |
+
- 1
|
| 1750 |
+
- 0
|
| 1751 |
+
- 0
|
| 1752 |
+
- 0
|
| 1753 |
+
lights: []
|
| 1754 |
+
materials: []
|
| 1755 |
+
sort_actuators: false
|
| 1756 |
+
spec_fn: mjlab_microduck.robot.microduck_constants.get_ball_spec
|
| 1757 |
+
textures: []
|
| 1758 |
+
robot:
|
| 1759 |
+
articulation:
|
| 1760 |
+
actuators:
|
| 1761 |
+
- armature: null
|
| 1762 |
+
delay_hold_prob: 0
|
| 1763 |
+
delay_max_lag: 6
|
| 1764 |
+
delay_min_lag: 3
|
| 1765 |
+
delay_per_env_phase: true
|
| 1766 |
+
delay_update_period: 0
|
| 1767 |
+
frictionloss: null
|
| 1768 |
+
json_path: null
|
| 1769 |
+
kp_fw: 200
|
| 1770 |
+
model: m6
|
| 1771 |
+
motor_name: xl330
|
| 1772 |
+
stiff_frictionloss: true
|
| 1773 |
+
target_names_expr:
|
| 1774 |
+
- ^(?!passive_).*
|
| 1775 |
+
transmission_type: JOINT
|
| 1776 |
+
vin: null
|
| 1777 |
+
vin_drop_gain_range:
|
| 1778 |
+
- 0
|
| 1779 |
+
- 0.2
|
| 1780 |
+
vin_min: 6
|
| 1781 |
+
vin_range:
|
| 1782 |
+
- 6.5
|
| 1783 |
+
- 8.2
|
| 1784 |
+
viscous_damping: null
|
| 1785 |
+
soft_joint_pos_limit_factor: 0.9
|
| 1786 |
+
cameras: []
|
| 1787 |
+
collisions:
|
| 1788 |
+
- conaffinity: 1
|
| 1789 |
+
condim:
|
| 1790 |
+
.*_collision: 1
|
| 1791 |
+
^(left|right)_foot_collision$: 3
|
| 1792 |
+
contype: 1
|
| 1793 |
+
disable_other_geoms: true
|
| 1794 |
+
friction:
|
| 1795 |
+
^(left|right)_foot_collision$:
|
| 1796 |
+
- 1
|
| 1797 |
+
gap: null
|
| 1798 |
+
geom_names_expr:
|
| 1799 |
+
- .*_collision
|
| 1800 |
+
margin: null
|
| 1801 |
+
priority:
|
| 1802 |
+
^(left|right)_foot_collision$: 1
|
| 1803 |
+
solimp: null
|
| 1804 |
+
solmix: null
|
| 1805 |
+
solref: null
|
| 1806 |
+
init_state:
|
| 1807 |
+
ang_vel:
|
| 1808 |
+
- 0
|
| 1809 |
+
- 0
|
| 1810 |
+
- 0
|
| 1811 |
+
joint_pos:
|
| 1812 |
+
.*head_pitch.*: 0.3491
|
| 1813 |
+
.*head_roll.*: 0
|
| 1814 |
+
.*head_yaw.*: 0
|
| 1815 |
+
.*hip_yaw.*: 0
|
| 1816 |
+
.*left_ankle.*: 0.453
|
| 1817 |
+
.*left_hip_pitch.*: -0.4579
|
| 1818 |
+
.*left_hip_roll.*: -0.0873
|
| 1819 |
+
.*left_knee.*: -0.0049
|
| 1820 |
+
.*neck_pitch.*: 0.3491
|
| 1821 |
+
.*right_ankle.*: -0.453
|
| 1822 |
+
.*right_hip_pitch.*: 0.4579
|
| 1823 |
+
.*right_hip_roll.*: 0.0873
|
| 1824 |
+
.*right_knee.*: 0.0049
|
| 1825 |
+
joint_vel:
|
| 1826 |
+
.*: 0
|
| 1827 |
+
lin_vel:
|
| 1828 |
+
- 0
|
| 1829 |
+
- 0
|
| 1830 |
+
- 0
|
| 1831 |
+
pos:
|
| 1832 |
+
- 0
|
| 1833 |
+
- 0
|
| 1834 |
+
- 0
|
| 1835 |
+
rot:
|
| 1836 |
+
- 1
|
| 1837 |
+
- 0
|
| 1838 |
+
- 0
|
| 1839 |
+
- 0
|
| 1840 |
+
lights: []
|
| 1841 |
+
materials: []
|
| 1842 |
+
sort_actuators: false
|
| 1843 |
+
spec_fn: mjlab_microduck.robot.microduck_constants.get_standup_spec
|
| 1844 |
+
textures: []
|
| 1845 |
+
env_spacing: 2
|
| 1846 |
+
extent: 2
|
| 1847 |
+
num_envs: 4096
|
| 1848 |
+
sensors:
|
| 1849 |
+
- debug: false
|
| 1850 |
+
fields:
|
| 1851 |
+
- found
|
| 1852 |
+
- force
|
| 1853 |
+
global_frame: false
|
| 1854 |
+
history_length: 0
|
| 1855 |
+
name: feet_ground_contact
|
| 1856 |
+
num_slots: 1
|
| 1857 |
+
primary:
|
| 1858 |
+
entity: robot
|
| 1859 |
+
exclude: []
|
| 1860 |
+
mode: geom
|
| 1861 |
+
pattern: ^(left_foot_collision|right_foot_collision)$
|
| 1862 |
+
reduce: netforce
|
| 1863 |
+
secondary:
|
| 1864 |
+
entity: null
|
| 1865 |
+
exclude: []
|
| 1866 |
+
mode: body
|
| 1867 |
+
pattern: terrain
|
| 1868 |
+
secondary_policy: first
|
| 1869 |
+
track_air_time: true
|
| 1870 |
+
- debug: false
|
| 1871 |
+
fields:
|
| 1872 |
+
- found
|
| 1873 |
+
global_frame: false
|
| 1874 |
+
history_length: 0
|
| 1875 |
+
name: support_foot_ground_contact
|
| 1876 |
+
num_slots: 1
|
| 1877 |
+
primary:
|
| 1878 |
+
entity: robot
|
| 1879 |
+
exclude: []
|
| 1880 |
+
mode: geom
|
| 1881 |
+
pattern: ^right_foot_collision$
|
| 1882 |
+
reduce: netforce
|
| 1883 |
+
secondary:
|
| 1884 |
+
entity: null
|
| 1885 |
+
exclude: []
|
| 1886 |
+
mode: body
|
| 1887 |
+
pattern: terrain
|
| 1888 |
+
secondary_policy: first
|
| 1889 |
+
track_air_time: false
|
| 1890 |
+
- debug: false
|
| 1891 |
+
fields:
|
| 1892 |
+
- found
|
| 1893 |
+
global_frame: false
|
| 1894 |
+
history_length: 0
|
| 1895 |
+
name: self_collision
|
| 1896 |
+
num_slots: 1
|
| 1897 |
+
primary:
|
| 1898 |
+
entity: robot
|
| 1899 |
+
exclude: []
|
| 1900 |
+
mode: subtree
|
| 1901 |
+
pattern: trunk_base
|
| 1902 |
+
reduce: none
|
| 1903 |
+
secondary:
|
| 1904 |
+
entity: robot
|
| 1905 |
+
exclude: []
|
| 1906 |
+
mode: subtree
|
| 1907 |
+
pattern: trunk_base
|
| 1908 |
+
secondary_policy: first
|
| 1909 |
+
track_air_time: false
|
| 1910 |
+
spec_fn: null
|
| 1911 |
+
terrain:
|
| 1912 |
+
articulation: null
|
| 1913 |
+
cameras: []
|
| 1914 |
+
collisions: []
|
| 1915 |
+
env_spacing: 2
|
| 1916 |
+
init_state:
|
| 1917 |
+
ang_vel:
|
| 1918 |
+
- 0
|
| 1919 |
+
- 0
|
| 1920 |
+
- 0
|
| 1921 |
+
joint_pos:
|
| 1922 |
+
.*: 0
|
| 1923 |
+
joint_vel:
|
| 1924 |
+
.*: 0
|
| 1925 |
+
lin_vel:
|
| 1926 |
+
- 0
|
| 1927 |
+
- 0
|
| 1928 |
+
- 0
|
| 1929 |
+
pos:
|
| 1930 |
+
- 0
|
| 1931 |
+
- 0
|
| 1932 |
+
- 0
|
| 1933 |
+
rot:
|
| 1934 |
+
- 1
|
| 1935 |
+
- 0
|
| 1936 |
+
- 0
|
| 1937 |
+
- 0
|
| 1938 |
+
lights:
|
| 1939 |
+
- body: world
|
| 1940 |
+
castshadow: true
|
| 1941 |
+
cutoff: 45
|
| 1942 |
+
dir:
|
| 1943 |
+
- 0
|
| 1944 |
+
- 0
|
| 1945 |
+
- -1
|
| 1946 |
+
exponent: 10
|
| 1947 |
+
mode: fixed
|
| 1948 |
+
name: sun
|
| 1949 |
+
pos:
|
| 1950 |
+
- 0
|
| 1951 |
+
- 0
|
| 1952 |
+
- 1.5
|
| 1953 |
+
target: null
|
| 1954 |
+
type: directional
|
| 1955 |
+
materials:
|
| 1956 |
+
- geom_names_expr:
|
| 1957 |
+
- terrain$
|
| 1958 |
+
name: groundplane
|
| 1959 |
+
reflectance: 0.2
|
| 1960 |
+
rgba:
|
| 1961 |
+
- 1
|
| 1962 |
+
- 1
|
| 1963 |
+
- 1
|
| 1964 |
+
- 1
|
| 1965 |
+
texrepeat:
|
| 1966 |
+
- 4
|
| 1967 |
+
- 4
|
| 1968 |
+
texture: groundplane
|
| 1969 |
+
texuniform: true
|
| 1970 |
+
max_init_terrain_level: 5
|
| 1971 |
+
num_envs: 4096
|
| 1972 |
+
sort_actuators: false
|
| 1973 |
+
spec_fn: mjlab.entity.entity.EntityCfg.<lambda>.<locals>.<lambda>
|
| 1974 |
+
terrain_generator: null
|
| 1975 |
+
terrain_type: plane
|
| 1976 |
+
textures:
|
| 1977 |
+
- builtin: checker
|
| 1978 |
+
height: 300
|
| 1979 |
+
mark: edge
|
| 1980 |
+
markrgb:
|
| 1981 |
+
- 0.8
|
| 1982 |
+
- 0.8
|
| 1983 |
+
- 0.8
|
| 1984 |
+
name: groundplane
|
| 1985 |
+
rgb1:
|
| 1986 |
+
- 0.2
|
| 1987 |
+
- 0.3
|
| 1988 |
+
- 0.4
|
| 1989 |
+
rgb2:
|
| 1990 |
+
- 0.1
|
| 1991 |
+
- 0.2
|
| 1992 |
+
- 0.3
|
| 1993 |
+
type: 2d
|
| 1994 |
+
width: 300
|
| 1995 |
+
seed: 42
|
| 1996 |
+
sim:
|
| 1997 |
+
contact_sensor_maxmatch: 64
|
| 1998 |
+
ls_parallel: true
|
| 1999 |
+
mujoco:
|
| 2000 |
+
ccd_iterations: 50
|
| 2001 |
+
cone: pyramidal
|
| 2002 |
+
disableflags: []
|
| 2003 |
+
enableflags: []
|
| 2004 |
+
gravity:
|
| 2005 |
+
- 0
|
| 2006 |
+
- 0
|
| 2007 |
+
- -9.81
|
| 2008 |
+
impratio: 1
|
| 2009 |
+
integrator: implicitfast
|
| 2010 |
+
iterations: 10
|
| 2011 |
+
jacobian: auto
|
| 2012 |
+
ls_iterations: 20
|
| 2013 |
+
ls_tolerance: 0.01
|
| 2014 |
+
solver: newton
|
| 2015 |
+
timestep: 0.005
|
| 2016 |
+
tolerance: 1e-08
|
| 2017 |
+
nan_guard:
|
| 2018 |
+
buffer_size: 100
|
| 2019 |
+
enabled: false
|
| 2020 |
+
max_envs_to_dump: 5
|
| 2021 |
+
output_dir: /tmp/mjlab/nan_dumps
|
| 2022 |
+
nconmax: 50
|
| 2023 |
+
njmax: 1500
|
| 2024 |
+
terminations:
|
| 2025 |
+
fell_over:
|
| 2026 |
+
func: mjlab.envs.mdp.terminations.bad_orientation
|
| 2027 |
+
params:
|
| 2028 |
+
limit_angle: 1.2217304763960306
|
| 2029 |
+
time_out: false
|
| 2030 |
+
nan_state:
|
| 2031 |
+
func: mjlab_microduck.tasks.mdp.robot_state_is_nan
|
| 2032 |
+
time_out: false
|
| 2033 |
+
out_of_terrain_bounds:
|
| 2034 |
+
func: mjlab.tasks.velocity.mdp.terminations.out_of_terrain_bounds
|
| 2035 |
+
time_out: true
|
| 2036 |
+
time_out:
|
| 2037 |
+
func: mjlab.envs.mdp.terminations.time_out
|
| 2038 |
+
time_out: true
|
| 2039 |
+
viewer:
|
| 2040 |
+
azimuth: 90
|
| 2041 |
+
body_name: trunk_base
|
| 2042 |
+
distance: 3
|
| 2043 |
+
elevation: -5
|
| 2044 |
+
enable_reflections: true
|
| 2045 |
+
enable_shadows: true
|
| 2046 |
+
entity_name: robot
|
| 2047 |
+
env_idx: 0
|
| 2048 |
+
fovy: null
|
| 2049 |
+
height: 240
|
| 2050 |
+
lookat:
|
| 2051 |
+
- 0
|
| 2052 |
+
- 0
|
| 2053 |
+
- 0
|
| 2054 |
+
max_extra_envs: 2
|
| 2055 |
+
origin_type: ASSET_BODY
|
| 2056 |
+
width: 320
|
| 2057 |
+
log_dir:
|
| 2058 |
+
value: logs/rsl_rl/ball_kick_left/2026-07-28_22-46-57_ball_kick_left
|
| 2059 |
+
train_cfg:
|
| 2060 |
+
value:
|
| 2061 |
+
actor:
|
| 2062 |
+
activation: elu
|
| 2063 |
+
distribution_cfg:
|
| 2064 |
+
init_std: 1
|
| 2065 |
+
std_type: scalar
|
| 2066 |
+
hidden_dims:
|
| 2067 |
+
- 512
|
| 2068 |
+
- 256
|
| 2069 |
+
- 128
|
| 2070 |
+
obs_normalization: true
|
| 2071 |
+
algorithm:
|
| 2072 |
+
clip_param: 0.2
|
| 2073 |
+
desired_kl: 0.01
|
| 2074 |
+
entropy_coef: 0.01
|
| 2075 |
+
gamma: 0.99
|
| 2076 |
+
lam: 0.95
|
| 2077 |
+
learning_rate: 0.001
|
| 2078 |
+
max_grad_norm: 1
|
| 2079 |
+
normalize_advantage_per_mini_batch: false
|
| 2080 |
+
num_learning_epochs: 5
|
| 2081 |
+
num_mini_batches: 4
|
| 2082 |
+
optimizer: adam
|
| 2083 |
+
rnd_cfg: null
|
| 2084 |
+
schedule: adaptive
|
| 2085 |
+
symmetry_cfg: null
|
| 2086 |
+
use_clipped_value_loss: true
|
| 2087 |
+
value_loss_coef: 1
|
| 2088 |
+
class_name: OnPolicyRunner
|
| 2089 |
+
clip_actions: null
|
| 2090 |
+
critic:
|
| 2091 |
+
activation: elu
|
| 2092 |
+
hidden_dims:
|
| 2093 |
+
- 512
|
| 2094 |
+
- 256
|
| 2095 |
+
- 128
|
| 2096 |
+
obs_normalization: true
|
| 2097 |
+
experiment_name: ball_kick_left
|
| 2098 |
+
load_checkpoint: model_.*.pt
|
| 2099 |
+
load_run: .*
|
| 2100 |
+
logger: wandb
|
| 2101 |
+
max_iterations: 10000
|
| 2102 |
+
multi_gpu: null
|
| 2103 |
+
num_steps_per_env: 24
|
| 2104 |
+
obs_groups:
|
| 2105 |
+
actor:
|
| 2106 |
+
- actor
|
| 2107 |
+
critic:
|
| 2108 |
+
- critic
|
| 2109 |
+
resume: false
|
| 2110 |
+
run_name: ball_kick_left
|
| 2111 |
+
save_interval: 250
|
| 2112 |
+
seed: 42
|
| 2113 |
+
upload_model: true
|
| 2114 |
+
wandb_project: mjlab_microduck
|
| 2115 |
+
wandb_tags: []
|