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config.yaml
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config.yaml
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wandb_version: 1
AC_Args:
desc: null
value:
init_noise_std: 1.0
actor_hidden_dims:
- 512
- 256
- 128
critic_hidden_dims:
- 512
- 256
- 128
activation: elu
adaptation_module_branch_hidden_dims:
- 256
- 128
adaptation_labels: []
adaptation_dims: []
adaptation_weights: []
use_decoder: false
PPO_Args:
desc: null
value:
value_loss_coef: 1.0
use_clipped_value_loss: true
clip_param: 0.2
entropy_coef: 0.01
num_learning_epochs: 5
num_mini_batches: 4
learning_rate: 0.001
adaptation_module_learning_rate: 0.001
num_adaptation_module_substeps: 1
schedule: adaptive
gamma: 0.99
lam: 0.95
desired_kl: 0.01
max_grad_norm: 1.0
selective_adaptation_module_loss: false
RunnerArgs:
desc: null
value:
algorithm_class_name: RMA
num_steps_per_env: 24
max_iterations: 1500
save_interval: 400
save_video_interval: 500
log_freq: 10
resume: true
load_run: -1
checkpoint: -1
resume_path: improbableailab/dribbling/j34kr9ds
resume_curriculum: true
resume_checkpoint: tmp/legged_data/ac_weights_last.pt
Cfg:
desc: null
value:
env:
num_envs: 1000
num_observations: 75
num_privileged_obs: 6
num_actions: 12
num_observation_history: 15
env_spacing: 3.0
send_timeouts: true
episode_length_s: 40.0
record_video: true
recording_width_px: 360
recording_height_px: 240
recording_mode: COLOR
num_recording_envs: 1
add_balls: true
priv_observe_ball_drag: true
robot:
name: go1
ball:
asset: ball
mass: 0.318
radius: 0.0889
ball_init_pos:
- 0.0
- 0.0
- 0.5
ball_init_rot:
- 0
- 0
- 0
- 1
ball_init_lin_vel:
- 0
- 0
- 0
ball_init_ang_vel:
- 0
- 0
- 0
init_pos_range:
- 1.0
- 1.0
- 0.2
init_vel_range:
- 0.5
- 0.5
- 0.3
pos_reset_prob: 0.0002
vel_reset_prob: 0.0008
pos_reset_range:
- 1.0
- 1.0
- 0.0
vel_reset_range:
- 0.3
- 0.3
- 0.3
vision_receive_prob: 0.7
sensors:
sensor_names:
- ObjectSensor
- OrientationSensor
- RCSensor
- JointPositionSensor
- JointVelocitySensor
- ActionSensor
- LastActionSensor
- ClockSensor
- YawSensor
- TimingSensor
sensor_args:
ObjectSensor: {}
OrientationSensor: {}
RCSensor: {}
JointPositionSensor: {}
JointVelocitySensor: {}
ActionSensor: {}
LastActionSensor:
delay: 1
ClockSensor: {}
YawSensor: {}
TimingSensor: {}
privileged_sensor_names:
BodyVelocitySensor: {}
ObjectVelocitySensor: {}
privileged_sensor_args:
BodyVelocitySensor: {}
ObjectVelocitySensor: {}
terrain:
mesh_type: boxes_tm
horizontal_scale: 0.05
vertical_scale: 0.005
border_size: 0.0
curriculum: false
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
terrain_noise_magnitude: 0.0
terrain_smoothness: 0.005
min_init_terrain_level: 0
max_init_terrain_level: 1
terrain_length: 5.0
terrain_width: 5.0
num_rows: 20
num_cols: 20
num_border_boxes: 5.0
terrain_proportions:
- 1.0
- 0.0
- 0.0
- 0.0
- 0.0
slope_treshold: 0.75
difficulty_scale: 1.0
x_init_range: 0.2
y_init_range: 0.2
yaw_init_range: 3.14
x_init_offset: 0.0
y_init_offset: 0.0
teleport_robots: false
teleport_thresh: 0.3
max_platform_height: 0.2
max_step_height: 0.26
min_step_run: 0.25
max_step_run: 0.4
center_robots: false
center_span: 3
measure_heights: false
commands:
command_curriculum: true
max_reverse_curriculum: 1.0
max_forward_curriculum: 1.0
yaw_command_curriculum: false
max_yaw_curriculum: 1.0
exclusive_command_sampling: false
num_commands: 15
resampling_time: 7
subsample_gait: false
gait_interval_s: 10.0
vel_interval_s: 10.0
jump_interval_s: 20.0
jump_duration_s: 0.1
jump_height: 0.3
heading_command: false
global_reference: false
observe_accel: false
distributional_commands: true
curriculum_type: RewardThresholdCurriculum
lipschitz_threshold: 0.9
num_lin_vel_bins: 30
lin_vel_step: 0.3
num_ang_vel_bins: 30
ang_vel_step: 0.3
distribution_update_extension_distance: 1
curriculum_seed: 100
lin_vel_x:
- -1.5
- 1.5
lin_vel_y:
- -1.5
- 1.5
ang_vel_yaw:
- -0.0
- 0.0
body_height_cmd:
- -0.05
- 0.05
impulse_height_commands: false
limit_vel_x:
- -1.5
- 1.5
limit_vel_y:
- -1.5
- 1.5
limit_vel_yaw:
- -0.0
- 0.0
limit_body_height:
- -0.05
- 0.05
limit_gait_phase:
- 0.5
- 0.5
limit_gait_offset:
- 0.0
- 0.0
limit_gait_bound:
- 0.0
- 0.0
limit_gait_frequency:
- 3.0
- 3.0
limit_gait_duration:
- 0.5
- 0.5
limit_footswing_height:
- 0.09
- 0.09
limit_body_pitch:
- -0.0
- 0.0
limit_body_roll:
- -0.0
- 0.0
limit_aux_reward_coef:
- 0.0
- 0.01
limit_compliance:
- 0.0
- 0.01
limit_stance_width:
- 0.0
- 0.1
limit_stance_length:
- 0.0
- 0.1
num_bins_vel_x: 1
num_bins_vel_y: 1
num_bins_vel_yaw: 1
num_bins_body_height: 1
num_bins_gait_frequency: 1
num_bins_gait_phase: 1
num_bins_gait_offset: 1
num_bins_gait_bound: 1
num_bins_gait_duration: 1
num_bins_footswing_height: 1
num_bins_body_pitch: 1
num_bins_body_roll: 1
num_bins_aux_reward_coef: 1
num_bins_compliance: 1
num_bins_stance_width: 1
num_bins_stance_length: 1
heading:
- -3.14
- 3.14
gait_phase_cmd_range:
- 0.5
- 0.5
gait_offset_cmd_range:
- 0.0
- 0.0
gait_bound_cmd_range:
- 0.0
- 0.0
gait_frequency_cmd_range:
- 3.0
- 3.0
gait_duration_cmd_range:
- 0.5
- 0.5
footswing_height_range:
- 0.09
- 0.09
body_pitch_range:
- -0.0
- 0.0
body_roll_range:
- -0.0
- 0.0
aux_reward_coef_range:
- 0.0
- 0.01
compliance_range:
- 0.0
- 0.01
stance_width_range:
- 0.0
- 0.1
stance_length_range:
- 0.0
- 0.1
exclusive_phase_offset: false
binary_phases: false
pacing_offset: false
balance_gait_distribution: false
gaitwise_curricula: false
curriculum_thresholds:
tracking_lin_vel: 0.8
tracking_ang_vel: 0.7
tracking_contacts_shaped_force: 0.9
tracking_contacts_shaped_vel: 0.9
dribbling_ball_vel: 0.8
init_state:
pos:
- 0.0
- 0.0
- 0.34
rot:
- 0.0
- 0.0
- 0.0
- 1.0
lin_vel:
- 0.0
- 0.0
- 0.0
ang_vel:
- 0.0
- 0.0
- 0.0
default_joint_angles:
FL_hip_joint: 0.1
RL_hip_joint: 0.1
FR_hip_joint: -0.1
RR_hip_joint: -0.1
FL_thigh_joint: 0.8
RL_thigh_joint: 1.0
FR_thigh_joint: 0.8
RR_thigh_joint: 1.0
FL_calf_joint: -1.5
RL_calf_joint: -1.5
FR_calf_joint: -1.5
RR_calf_joint: -1.5
control:
control_type: actuator_net
stiffness:
joint: 20.0
damping:
joint: 0.5
action_scale: 0.25
hip_scale_reduction: 0.5
decimation: 4
asset:
file: '{MINI_GYM_ROOT_DIR}/resources/robots/go1/urdf/go1.urdf'
foot_name: foot
penalize_contacts_on:
- thigh
- calf
terminate_after_contacts_on: []
disable_gravity: false
collapse_fixed_joints: true
fix_base_link: false
default_dof_drive_mode: 3
self_collisions: 0
replace_cylinder_with_capsule: true
flip_visual_attachments: false
density: 0.001
angular_damping: 0.0
linear_damping: 0.0
max_angular_velocity: 1000.0
max_linear_velocity: 1000.0
armature: 0.0
thickness: 0.01
domain_rand:
rand_interval_s: 6
randomize_rigids_after_start: false
randomize_friction: false
randomize_friction_indep: false
randomize_ground_friction: true
randomize_restitution: false
randomize_ground_restitution: false
randomize_tile_roughness: false
randomize_base_mass: true
randomize_com_displacement: false
randomize_motor_strength: true
randomize_motor_offset: true
randomize_Kp_factor: true
randomize_Kd_factor: true
randomize_gravity: false
randomize_ball_drag: true
randomize_ball_restitution: false
randomize_ball_friction: false
friction_range:
- 0.0
- 1.5
restitution_range:
- 0.0
- 0.4
ground_friction_range:
- 0.7
- 4.0
ground_restitution_range:
- 0
- 1.0
tile_roughness_range:
- 0.0
- 0.0
added_mass_range:
- -1.0
- 3.0
com_displacement_range:
- -0.15
- 0.15
motor_strength_range:
- 0.99
- 1.01
motor_offset_range:
- -0.002
- 0.002
Kp_factor_range:
- 0.8
- 1.3
Kd_factor_range:
- 0.5
- 1.5
gravity_rand_interval_s: 8.0
gravity_impulse_duration: 0.99
gravity_range:
- -1.0
- 1.0
drag_range:
- -0.1
- 0.8
ball_drag_rand_interval_s: 15.0
ball_restitution_range:
- 0.5
- 1.0
ball_friction_range:
- 0.5
- 1.0
push_robots: false
push_interval_s: 15
max_push_vel_xy: 0.5
randomize_lag_timesteps: true
lag_timesteps: 6
restitution: 0.5
rewards:
only_positive_rewards: false
only_positive_rewards_ji22_style: true
sigma_rew_neg: 0.02
reward_container_name: SoccerRewards
tracking_sigma: 0.25
tracking_sigma_lat: 0.25
tracking_sigma_long: 0.25
tracking_sigma_yaw: 0.25
soft_dof_pos_limit: 0.9
soft_dof_vel_limit: 1.0
soft_torque_limit: 1.0
base_height_target: 0.34
max_contact_force: 100.0
use_terminal_body_height: true
terminal_body_height: 0.2
use_terminal_roll_pitch: false
terminal_body_ori: 0.5
kappa_gait_probs: 0.07
gait_force_sigma: 100.0
gait_vel_sigma: 10.0
footswing_height: 0.09
front_target:
- - 0.17
- -0.09
- 0
estimation_bonus_dims: []
estimation_bonus_weights: []
constrict: false
constrict_indices: []
constrict_ranges:
- []
constrict_after: 0
reward_scales:
termination: -0.0
tracking_lin_vel: 0.0
tracking_ang_vel: 0.0
lin_vel_z: 0.0
ang_vel_xy: 0.0
orientation: -5.0
torques: -0.0001
dof_vel: -0.0001
dof_acc: -2.5e-07
base_height: -0.0
feet_air_time: 0.0
collision: -5.0
feet_stumble: -0.0
action_rate: -0.01
stand_still: -0.0
tracking_lin_vel_lat: 0.0
tracking_lin_vel_long: 0.0
tracking_contacts: 0.0
tracking_contacts_shaped: 0.0
tracking_contacts_shaped_force: 4.0
tracking_contacts_shaped_vel: 4.0
jump: 0.0
energy: 0.0
energy_expenditure: 0.0
survival: 0.0
dof_pos_limits: -10.0
dof_vel_limits: 0.0
torque_limits: 0.0
feet_contact_forces: 0.0
feet_slip: -0.0
feet_accel: 0.0
dof_pos: -0.05
action_smoothness_1: -0.1
action_smoothness_2: -0.1
base_motion: 0.0
feet_impact_vel: -0.0
raibert_heuristic: 0.0
dribbling_robot_ball_vel: 0.5
dribbling_robot_ball_pos: 4.0
dribbling_ball_vel: 4.0
dribbling_robot_ball_yaw: 4.0
dribbling_ball_vel_norm: 4.0
dribbling_ball_vel_angle: 4.0
gripper_handle_pos: 0.0
gripper_handle_height: 0.0
turn_handle: 0.0
open_door: 0.0
robot_door_pos: 0.0
robot_door_ori: 0.0
estimation_bonus: 0.0
normalization:
clip_observations: 100.0
clip_actions: 10.0
friction_range:
- 0
- 1
ground_friction_range:
- 0.7
- 4.0
restitution_range:
- 0
- 1.0
roughness_range:
- 0.0
- 0.1
added_mass_range:
- -1.0
- 3.0
com_displacement_range:
- -0.1
- 0.1
motor_strength_range:
- 0.9
- 1.1
motor_offset_range:
- -0.05
- 0.05
Kp_factor_range:
- 0.8
- 1.3
Kd_factor_range:
- 0.5
- 1.5
joint_friction_range:
- 0.0
- 0.7
contact_force_range:
- 0.0
- 50.0
contact_state_range:
- 0.0
- 1.0
body_velocity_range:
- -6.0
- 6.0
foot_height_range:
- 0.0
- 0.15
body_height_range:
- 0.0
- 0.6
gravity_range:
- -1.0
- 1.0
motion:
- -0.01
- 0.01
stair_height_range:
- 0.0
- 0.3
stair_run_range:
- 0.0
- 0.5
stair_ori_range:
- -3.14
- 3.14
ball_velocity_range:
- -5.0
- 5.0
ball_drag_range:
- 0.0
- 1.0
obs_scales:
lin_vel: 2.0
ang_vel: 0.25
dof_pos: 1.0
dof_vel: 0.05
imu: 0.1
height_measurements: 5.0
friction_measurements: 1.0
body_height_cmd: 2.0
gait_phase_cmd: 1.0
gait_freq_cmd: 1.0
footswing_height_cmd: 0.15
body_pitch_cmd: 0.3
body_roll_cmd: 0.3
aux_reward_cmd: 1.0
compliance_cmd: 1.0
stance_width_cmd: 1.0
stance_length_cmd: 1.0
segmentation_image: 1.0
rgb_image: 1.0
depth_image: 1.0
ball_pos: 1.0
noise:
add_noise: true
noise_level: 1.0
noise_scales:
dof_pos: 0.01
dof_vel: 1.5
lin_vel: 0.1
ang_vel: 0.2
imu: 0.1
gravity: 0.05
contact_states: 0.05
height_measurements: 0.1
friction_measurements: 0.0
segmentation_image: 0.0
rgb_image: 0.0
depth_image: 0.0
ball_pos: 0.05
viewer:
ref_env: 0
pos:
- 10
- 0
- 6
lookat:
- 11.0
- 5
- 3.0
sim:
dt: 0.005
substeps: 1
gravity:
- 0.0
- 0.0
- -9.81
up_axis: 1
use_gpu_pipeline: true
physx:
num_threads: 10
solver_type: 1
num_position_iterations: 4
num_velocity_iterations: 0
contact_offset: 0.01
rest_offset: 0.0
bounce_threshold_velocity: 0.5
max_depenetration_velocity: 1.0
max_gpu_contact_pairs: 8388608
default_buffer_size_multiplier: 5
contact_collection: 2
perception:
measure_heights: false
compute_heights: false
measure_frictions: false
compute_frictions: false
measure_roughnesses: false
compute_roughnesses: false
camera_names:
- front
- left
- right
- bottom
- rear
camera_poses:
- - 0.3
- 0
- 0
- - 0
- 0.15
- 0
- - 0
- -0.15
- 0
- - 0.1
- 0
- -0.1
- - -0.2
- 0
- -0.1
camera_rpys:
- - 0.0
- 0
- 0
- - 0
- 0
- 1.57
- - 0
- 0
- -1.57
- - 0
- -1.57
- 0
- - 0
- -1.57
- 0
compute_depth: false
compute_rgb: false
compute_segmentation: false
image_height: 100
image_width: 100
image_horizontal_fov: 110.0
_wandb:
desc: null
value:
python_version: 3.8.0
cli_version: 0.15.0
framework: torch
is_jupyter_run: false
is_kaggle_kernel: false
start_time: 1684375462.864571
t:
1:
- 1
- 55
2:
- 1
- 55
3:
- 1
- 3
- 16
- 23
4: 3.8.0
5: 0.15.0
8:
- 5