| viewer: |
| eye: !!python/tuple |
| - 7.5 |
| - 7.5 |
| - 7.5 |
| lookat: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| cam_prim_path: /OmniverseKit_Persp |
| resolution: !!python/tuple |
| - 1280 |
| - 720 |
| origin_type: world |
| env_index: 0 |
| asset_name: null |
| body_name: null |
| sim: |
| physics_prim_path: /physicsScene |
| device: cuda:0 |
| dt: 0.005 |
| render_interval: 4 |
| gravity: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -9.81 |
| enable_scene_query_support: false |
| use_fabric: true |
| physx: |
| solver_type: 1 |
| solve_articulation_contact_last: false |
| min_position_iteration_count: 1 |
| max_position_iteration_count: 255 |
| min_velocity_iteration_count: 0 |
| max_velocity_iteration_count: 255 |
| enable_ccd: false |
| enable_stabilization: false |
| enable_external_forces_every_iteration: false |
| enable_enhanced_determinism: false |
| bounce_threshold_velocity: 0.5 |
| friction_offset_threshold: 0.04 |
| friction_correlation_distance: 0.025 |
| gpu_max_rigid_contact_count: 8388608 |
| gpu_max_rigid_patch_count: 327680 |
| gpu_found_lost_pairs_capacity: 2097152 |
| gpu_found_lost_aggregate_pairs_capacity: 33554432 |
| gpu_total_aggregate_pairs_capacity: 2097152 |
| gpu_collision_stack_size: 67108864 |
| gpu_heap_capacity: 67108864 |
| gpu_temp_buffer_capacity: 16777216 |
| gpu_max_num_partitions: 8 |
| gpu_max_soft_body_contacts: 1048576 |
| gpu_max_particle_contacts: 1048576 |
| physics_material: |
| func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material |
| static_friction: 1.0 |
| dynamic_friction: 1.0 |
| restitution: 1.0 |
| friction_combine_mode: multiply |
| restitution_combine_mode: multiply |
| compliant_contact_stiffness: 0.0 |
| compliant_contact_damping: 0.0 |
| render: |
| enable_translucency: null |
| enable_reflections: null |
| enable_global_illumination: null |
| antialiasing_mode: null |
| enable_dlssg: null |
| enable_dl_denoiser: null |
| dlss_mode: null |
| enable_direct_lighting: null |
| samples_per_pixel: null |
| enable_shadows: null |
| enable_ambient_occlusion: null |
| dome_light_upper_lower_strategy: null |
| carb_settings: null |
| rendering_mode: null |
| create_stage_in_memory: false |
| logging_level: WARNING |
| save_logs_to_file: true |
| log_dir: null |
| ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow |
| seed: 42 |
| decimation: 4 |
| scene: |
| num_envs: 4096 |
| env_spacing: 2.5 |
| lazy_sensor_update: true |
| replicate_physics: true |
| filter_collisions: true |
| clone_in_fabric: false |
| robot: |
| class_type: isaaclab.assets.articulation.articulation:Articulation |
| prim_path: /World/envs/env_.*/Robot |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| mass_props: null |
| deformable_props: null |
| rigid_props: |
| rigid_body_enabled: null |
| kinematic_enabled: null |
| disable_gravity: false |
| linear_damping: 0.0 |
| angular_damping: 0.0 |
| max_linear_velocity: 1000.0 |
| max_angular_velocity: 1000.0 |
| max_depenetration_velocity: 1.0 |
| max_contact_impulse: null |
| enable_gyroscopic_forces: null |
| retain_accelerations: false |
| solver_position_iteration_count: null |
| solver_velocity_iteration_count: null |
| sleep_threshold: null |
| stabilization_threshold: null |
| collision_props: null |
| activate_contact_sensors: true |
| scale: null |
| articulation_props: |
| articulation_enabled: null |
| enabled_self_collisions: false |
| solver_position_iteration_count: 4 |
| solver_velocity_iteration_count: 1 |
| sleep_threshold: null |
| stabilization_threshold: null |
| fix_root_link: null |
| fixed_tendons_props: null |
| spatial_tendons_props: null |
| joint_drive_props: null |
| visual_material_path: material |
| visual_material: null |
| usd_path: /data/wanshan/workspace/learning/isaaclab/ATEC2026_Simulation_Challenge/atec_robot_model/robot/b2w/b2w_piper.usda |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.78 |
| rot: !!python/tuple |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| lin_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| joint_pos: |
| .*R_hip_joint: -0.1 |
| .*L_hip_joint: 0.1 |
| F[L,R]_thigh_joint: 0.8 |
| R[L,R]_thigh_joint: 1.0 |
| .*_calf_joint: -1.5 |
| joint_vel: |
| .*: 0.0 |
| collision_group: 0 |
| debug_vis: false |
| articulation_root_prim_path: null |
| soft_joint_pos_limit_factor: 0.9 |
| actuators: |
| M107-24-2: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - .*_hip_.* |
| - .*_thigh_.* |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 200 |
| velocity_limit_sim: 23 |
| stiffness: 160.0 |
| damping: 5.0 |
| armature: 0.01 |
| friction: 0.01 |
| dynamic_friction: null |
| viscous_friction: null |
| '2': |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - .*_calf_.* |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 320 |
| velocity_limit_sim: 14 |
| stiffness: 160.0 |
| damping: 5.0 |
| armature: 0.01 |
| friction: 0.01 |
| dynamic_friction: null |
| viscous_friction: null |
| wheels: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: .*_foot_joint |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 20.0 |
| velocity_limit_sim: 50.0 |
| stiffness: 0.0 |
| damping: 1.0 |
| armature: 0.01 |
| friction: 0.01 |
| dynamic_friction: null |
| viscous_friction: null |
| arms: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: arm_joint.* |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 100.0 |
| velocity_limit_sim: 100.0 |
| stiffness: 80.0 |
| damping: 4.0 |
| armature: 0.01 |
| friction: 0.01 |
| dynamic_friction: null |
| viscous_friction: null |
| actuator_value_resolution_debug_print: false |
| base_link_name: base_link |
| lidar_sensor_link_name: base_link |
| head_camera_link_name: base_link |
| ee_camera_link_name: gripper_base |
| head_camera_offset: |
| pos: !!python/tuple |
| - 0.4216099977493286 |
| - 0.02500000037252903 |
| - 0.06185099855065346 |
| rot: !!python/tuple |
| - 0.9659258262890683 |
| - 0.0 |
| - 0.25881904510252074 |
| - 0.0 |
| convention: world |
| ee_camera_offset: |
| pos: !!python/tuple |
| - -0.05 |
| - 0.0 |
| - 0.06 |
| rot: !!python/tuple |
| - 0.7071067811865476 |
| - 0.0 |
| - 0.0 |
| - -0.7071067811865475 |
| convention: ros |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| - arm_joint1 |
| - arm_joint2 |
| - arm_joint3 |
| - arm_joint4 |
| - arm_joint5 |
| - arm_joint6 |
| - arm_joint7 |
| - arm_joint8 |
| wheel_joint_names: |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| leg_joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| arm_joint_names: |
| - arm_joint1 |
| - arm_joint2 |
| - arm_joint3 |
| - arm_joint4 |
| - arm_joint5 |
| - arm_joint6 |
| - arm_joint7 |
| - arm_joint8 |
| terrain: |
| class_type: isaaclab.terrains.terrain_importer:TerrainImporter |
| collision_group: -1 |
| prim_path: /World/ground |
| num_envs: 4096 |
| terrain_type: plane |
| terrain_generator: null |
| usd_path: null |
| env_spacing: 2.5 |
| use_terrain_origins: true |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_from_mdl_file |
| mdl_path: /data/wanshan/workspace/learning/isaaclab/ATEC2026_Simulation_Challenge/atec_robot_model/scene/TilesMarbleSpiderWhiteBrickBondHoned.mdl |
| project_uvw: true |
| albedo_brightness: null |
| texture_scale: !!python/tuple |
| - 0.25 |
| - 0.25 |
| physics_material: |
| func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material |
| static_friction: 1.0 |
| dynamic_friction: 1.0 |
| restitution: 1.0 |
| friction_combine_mode: multiply |
| restitution_combine_mode: multiply |
| compliant_contact_stiffness: 0.0 |
| compliant_contact_damping: 0.0 |
| max_init_terrain_level: 5 |
| debug_vis: false |
| height_scanner: null |
| height_scanner_base: |
| class_type: isaaclab.sensors.ray_caster.ray_caster:RayCaster |
| prim_path: /World/envs/env_.*/Robot/base_link |
| update_period: 0.0 |
| history_length: 0 |
| debug_vis: false |
| mesh_prim_paths: |
| - /World/ground |
| offset: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 20.0 |
| rot: !!python/tuple |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| attach_yaw_only: null |
| ray_alignment: yaw |
| pattern_cfg: |
| func: isaaclab.sensors.ray_caster.patterns.patterns:grid_pattern |
| resolution: 0.05 |
| size: !!python/tuple |
| - 0.1 |
| - 0.1 |
| direction: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -1.0 |
| ordering: xy |
| max_distance: 1000000.0 |
| drift_range: !!python/tuple |
| - 0.0 |
| - 0.0 |
| ray_cast_drift_range: |
| x: !!python/tuple |
| - 0.0 |
| - 0.0 |
| y: !!python/tuple |
| - 0.0 |
| - 0.0 |
| z: !!python/tuple |
| - 0.0 |
| - 0.0 |
| visualizer_cfg: |
| prim_path: /Visuals/RayCaster |
| markers: |
| hit: |
| func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| mass_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 0.5 |
| metallic: 0.0 |
| opacity: 1.0 |
| physics_material_path: material |
| physics_material: null |
| radius: 0.02 |
| contact_forces: |
| class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor |
| prim_path: /World/envs/env_.*/Robot/.* |
| update_period: 0.005 |
| history_length: 3 |
| debug_vis: false |
| track_pose: false |
| track_contact_points: false |
| track_friction_forces: false |
| max_contact_data_count_per_prim: 4 |
| track_air_time: true |
| force_threshold: 1.0 |
| filter_prim_paths_expr: [] |
| visualizer_cfg: |
| prim_path: /Visuals/ContactSensor |
| markers: |
| contact: |
| func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| mass_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 0.5 |
| metallic: 0.0 |
| opacity: 1.0 |
| physics_material_path: material |
| physics_material: null |
| radius: 0.02 |
| no_contact: |
| func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere |
| visible: false |
| semantic_tags: null |
| copy_from_source: true |
| mass_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 0.0 |
| - 1.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 0.5 |
| metallic: 0.0 |
| opacity: 1.0 |
| physics_material_path: material |
| physics_material: null |
| radius: 0.02 |
| sky_light: |
| class_type: null |
| prim_path: /World/skyLight |
| spawn: |
| func: isaaclab.sim.spawners.lights.lights:spawn_light |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| prim_type: DomeLight |
| color: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| enable_color_temperature: false |
| color_temperature: 6500.0 |
| normalize: false |
| exposure: 0.0 |
| intensity: 750.0 |
| texture_file: /data/wanshan/workspace/learning/isaaclab/ATEC2026_Simulation_Challenge/atec_robot_model/scene/kloofendal_43d_clear_puresky_4k.hdr |
| texture_format: automatic |
| visible_in_primary_ray: true |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| rot: !!python/tuple |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| collision_group: 0 |
| debug_vis: false |
| recorders: |
| dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler |
| dataset_export_dir_path: /tmp/isaaclab/logs |
| dataset_filename: dataset |
| dataset_export_mode: |
| _value_: 1 |
| _name_: EXPORT_ALL |
| _sort_order_: 1 |
| export_in_record_pre_reset: true |
| export_in_close: false |
| observations: |
| policy: |
| concatenate_terms: true |
| concatenate_dim: -1 |
| enable_corruption: true |
| history_length: null |
| flatten_history_dim: true |
| base_lin_vel: null |
| base_ang_vel: |
| func: isaaclab.envs.mdp.observations:base_ang_vel |
| params: {} |
| modifiers: null |
| noise: |
| func: isaaclab.utils.noise.noise_model:uniform_noise |
| operation: add |
| n_min: -0.2 |
| n_max: 0.2 |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 0.25 |
| history_length: 0 |
| flatten_history_dim: true |
| projected_gravity: |
| func: isaaclab.envs.mdp.observations:projected_gravity |
| params: {} |
| modifiers: null |
| noise: |
| func: isaaclab.utils.noise.noise_model:uniform_noise |
| operation: add |
| n_min: -0.05 |
| n_max: 0.05 |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| velocity_commands: |
| func: isaaclab.envs.mdp.observations:generated_commands |
| params: |
| command_name: base_velocity |
| modifiers: null |
| noise: null |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| joint_pos: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.observations:joint_pos_rel_without_wheel |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: true |
| wheel_asset_cfg: |
| name: robot |
| joint_names: |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| modifiers: null |
| noise: |
| func: isaaclab.utils.noise.noise_model:uniform_noise |
| operation: add |
| n_min: -0.01 |
| n_max: 0.01 |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| joint_vel: |
| func: isaaclab.envs.mdp.observations:joint_vel_rel |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: true |
| modifiers: null |
| noise: |
| func: isaaclab.utils.noise.noise_model:uniform_noise |
| operation: add |
| n_min: -1.5 |
| n_max: 1.5 |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 0.05 |
| history_length: 0 |
| flatten_history_dim: true |
| actions: |
| func: isaaclab.envs.mdp.observations:last_action |
| params: {} |
| modifiers: null |
| noise: null |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| height_scan: null |
| critic: |
| concatenate_terms: true |
| concatenate_dim: -1 |
| enable_corruption: false |
| history_length: null |
| flatten_history_dim: true |
| base_lin_vel: |
| func: isaaclab.envs.mdp.observations:base_lin_vel |
| params: {} |
| modifiers: null |
| noise: null |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| base_ang_vel: |
| func: isaaclab.envs.mdp.observations:base_ang_vel |
| params: {} |
| modifiers: null |
| noise: null |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| projected_gravity: |
| func: isaaclab.envs.mdp.observations:projected_gravity |
| params: {} |
| modifiers: null |
| noise: null |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| velocity_commands: |
| func: isaaclab.envs.mdp.observations:generated_commands |
| params: |
| command_name: base_velocity |
| modifiers: null |
| noise: null |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| joint_pos: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.observations:joint_pos_rel_without_wheel |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: true |
| wheel_asset_cfg: |
| name: robot |
| joint_names: |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| modifiers: null |
| noise: null |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| joint_vel: |
| func: isaaclab.envs.mdp.observations:joint_vel_rel |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: true |
| modifiers: null |
| noise: null |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| actions: |
| func: isaaclab.envs.mdp.observations:last_action |
| params: {} |
| modifiers: null |
| noise: null |
| clip: !!python/tuple |
| - -100.0 |
| - 100.0 |
| scale: 1.0 |
| history_length: 0 |
| flatten_history_dim: true |
| height_scan: null |
| actions: |
| joint_pos: |
| class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction |
| asset_name: robot |
| debug_vis: false |
| clip: |
| .*: !!python/tuple |
| - -100.0 |
| - 100.0 |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| scale: |
| .*_hip_joint: 0.125 |
| ^(?!.*_hip_joint).*: 0.25 |
| offset: 0.0 |
| preserve_order: true |
| use_default_offset: true |
| joint_vel: |
| class_type: isaaclab.envs.mdp.actions.joint_actions:JointVelocityAction |
| asset_name: robot |
| debug_vis: false |
| clip: |
| .*: !!python/tuple |
| - -100.0 |
| - 100.0 |
| joint_names: |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| scale: 5.0 |
| offset: 0.0 |
| preserve_order: true |
| use_default_offset: true |
| joint_arm: |
| class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction |
| asset_name: robot |
| debug_vis: false |
| clip: |
| .*: !!python/tuple |
| - -100.0 |
| - 100.0 |
| joint_names: |
| - arm_joint1 |
| - arm_joint2 |
| - arm_joint3 |
| - arm_joint4 |
| - arm_joint5 |
| - arm_joint6 |
| - arm_joint7 |
| - arm_joint8 |
| scale: 0.0 |
| offset: 0.0 |
| preserve_order: true |
| use_default_offset: true |
| events: |
| randomize_rigid_body_material: null |
| randomize_rigid_body_mass_base: null |
| randomize_rigid_body_mass_others: null |
| randomize_com_positions: null |
| randomize_apply_external_force_torque: |
| func: isaaclab.envs.mdp.events:apply_external_force_torque |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: |
| - base_link |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| force_range: !!python/tuple |
| - -30.0 |
| - 30.0 |
| torque_range: !!python/tuple |
| - -10.0 |
| - 10.0 |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| randomize_reset_joints: |
| func: isaaclab.envs.mdp.events:reset_joints_by_scale |
| params: |
| position_range: !!python/tuple |
| - 1.0 |
| - 1.0 |
| velocity_range: !!python/tuple |
| - 0.0 |
| - 0.0 |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| randomize_actuator_gains: null |
| randomize_reset_base: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.events:reset_root_state_uniform |
| params: |
| pose_range: |
| x: !!python/tuple |
| - -0.5 |
| - 0.5 |
| y: !!python/tuple |
| - -0.5 |
| - 0.5 |
| z: !!python/tuple |
| - 0.0 |
| - 0.2 |
| roll: !!python/tuple |
| - -3.14 |
| - 3.14 |
| pitch: !!python/tuple |
| - -3.14 |
| - 3.14 |
| yaw: !!python/tuple |
| - -3.14 |
| - 3.14 |
| velocity_range: |
| x: !!python/tuple |
| - -0.5 |
| - 0.5 |
| y: !!python/tuple |
| - -0.5 |
| - 0.5 |
| z: !!python/tuple |
| - -0.5 |
| - 0.5 |
| roll: !!python/tuple |
| - -0.5 |
| - 0.5 |
| pitch: !!python/tuple |
| - -0.5 |
| - 0.5 |
| yaw: !!python/tuple |
| - -0.5 |
| - 0.5 |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| randomize_push_robot: |
| func: isaaclab.envs.mdp.events:push_by_setting_velocity |
| params: |
| velocity_range: |
| x: !!python/tuple |
| - -0.5 |
| - 0.5 |
| y: !!python/tuple |
| - -0.5 |
| - 0.5 |
| mode: interval |
| interval_range_s: !!python/tuple |
| - 10.0 |
| - 15.0 |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| rerender_on_reset: false |
| num_rerenders_on_reset: 0 |
| wait_for_textures: true |
| xr: null |
| teleop_devices: |
| devices: {} |
| export_io_descriptors: false |
| log_dir: /data/wanshan/workspace/learning/isaaclab/ATEC2026_Simulation_Challenge/logs/rsl_rl/unitree_b2w_piper_flat/2026-06-27_00-04-38 |
| is_finite_horizon: false |
| episode_length_s: 20.0 |
| rewards: |
| is_terminated: null |
| lin_vel_z_l2: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:lin_vel_z_l2 |
| params: {} |
| weight: -2.0 |
| ang_vel_xy_l2: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:ang_vel_xy_l2 |
| params: {} |
| weight: -0.05 |
| flat_orientation_l2: null |
| base_height_l2: null |
| body_lin_acc_l2: null |
| joint_torques_l2: |
| func: isaaclab.envs.mdp.rewards:joint_torques_l2 |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| weight: -1.0e-05 |
| joint_vel_l2: null |
| joint_acc_l2: |
| func: isaaclab.envs.mdp.rewards:joint_acc_l2 |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| weight: -1.0e-07 |
| joint_pos_limits: |
| func: isaaclab.envs.mdp.rewards:joint_pos_limits |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| weight: -5.0 |
| joint_vel_limits: null |
| joint_power: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:joint_power |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| weight: -1.0e-05 |
| stand_still: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:stand_still |
| params: |
| command_name: base_velocity |
| command_threshold: 0.1 |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| weight: -2.0 |
| joint_pos_penalty: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:joint_pos_penalty |
| params: |
| command_name: base_velocity |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| stand_still_scale: 5.0 |
| velocity_threshold: 0.5 |
| command_threshold: 0.1 |
| weight: -1.0 |
| wheel_vel_penalty: null |
| joint_mirror: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:joint_mirror |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| mirror_joints: |
| - - FR_(hip|thigh|calf).* |
| - RL_(hip|thigh|calf).* |
| - - FL_(hip|thigh|calf).* |
| - RR_(hip|thigh|calf).* |
| weight: -0.05 |
| action_mirror: null |
| action_sync: null |
| applied_torque_limits: null |
| action_rate_l2: |
| func: isaaclab.envs.mdp.rewards:action_rate_l2 |
| params: {} |
| weight: -0.01 |
| undesired_contacts: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:undesired_contacts |
| params: |
| sensor_cfg: |
| name: contact_forces |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: |
| - ^(?!.*.*_foot).* |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| threshold: 1.0 |
| weight: -1.0 |
| contact_forces: |
| func: isaaclab.envs.mdp.rewards:contact_forces |
| params: |
| sensor_cfg: |
| name: contact_forces |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: |
| - .*_foot |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| threshold: 100.0 |
| weight: -0.00015 |
| track_lin_vel_xy_exp: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:track_lin_vel_xy_exp |
| params: |
| command_name: base_velocity |
| std: 0.5 |
| weight: 3.0 |
| track_ang_vel_z_exp: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:track_ang_vel_z_exp |
| params: |
| command_name: base_velocity |
| std: 0.5 |
| weight: 1.5 |
| feet_air_time: null |
| feet_air_time_variance: null |
| feet_gait: null |
| feet_contact: null |
| feet_contact_without_cmd: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:feet_contact_without_cmd |
| params: |
| sensor_cfg: |
| name: contact_forces |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: |
| - .*_foot |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| command_name: base_velocity |
| weight: 0.1 |
| feet_stumble: null |
| feet_slide: null |
| feet_height: null |
| feet_height_body: null |
| feet_distance_y_exp: null |
| upward: |
| func: atec_rl_lab.train.locomotion.velocity.mdp.rewards:upward |
| params: {} |
| weight: 3.0 |
| joint_vel_wheel_l2: null |
| joint_acc_wheel_l2: |
| func: isaaclab.envs.mdp.rewards:joint_acc_l2 |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| weight: -2.5e-10 |
| joint_torques_wheel_l2: null |
| terminations: |
| time_out: |
| func: isaaclab.envs.mdp.terminations:time_out |
| params: {} |
| time_out: true |
| terrain_out_of_bounds: |
| func: isaaclab_tasks.manager_based.locomotion.velocity.mdp.terminations:terrain_out_of_bounds |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| distance_buffer: 3.0 |
| time_out: true |
| illegal_contact: null |
| curriculum: |
| terrain_levels: null |
| command_levels_lin_vel: null |
| command_levels_ang_vel: null |
| commands: |
| base_velocity: |
| class_type: atec_rl_lab.train.locomotion.velocity.mdp.commands:UniformThresholdVelocityCommand |
| resampling_time_range: !!python/tuple |
| - 10.0 |
| - 10.0 |
| debug_vis: true |
| asset_name: robot |
| heading_command: true |
| heading_control_stiffness: 0.5 |
| rel_standing_envs: 0.02 |
| rel_heading_envs: 1.0 |
| ranges: |
| lin_vel_x: !!python/tuple |
| - -1.0 |
| - 1.0 |
| lin_vel_y: !!python/tuple |
| - -1.0 |
| - 1.0 |
| ang_vel_z: !!python/tuple |
| - -1.0 |
| - 1.0 |
| heading: !!python/tuple |
| - -3.141592653589793 |
| - 3.141592653589793 |
| goal_vel_visualizer_cfg: |
| prim_path: /Visuals/Command/velocity_goal |
| markers: |
| arrow: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 0.5 |
| - 0.5 |
| - 0.5 |
| articulation_props: null |
| fixed_tendons_props: null |
| spatial_tendons_props: null |
| joint_drive_props: null |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 0.0 |
| - 1.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 0.5 |
| metallic: 0.0 |
| opacity: 1.0 |
| usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/arrow_x.usd |
| variants: null |
| current_vel_visualizer_cfg: |
| prim_path: /Visuals/Command/velocity_current |
| markers: |
| arrow: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 0.5 |
| - 0.5 |
| - 0.5 |
| articulation_props: null |
| fixed_tendons_props: null |
| spatial_tendons_props: null |
| joint_drive_props: null |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 0.5 |
| metallic: 0.0 |
| opacity: 1.0 |
| usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/arrow_x.usd |
| variants: null |
| base_link_name: base_link |
| foot_link_name: .*_foot |
| leg_joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| wheel_joint_names: |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
| arm_joint_names: |
| - arm_joint1 |
| - arm_joint2 |
| - arm_joint3 |
| - arm_joint4 |
| - arm_joint5 |
| - arm_joint6 |
| - arm_joint7 |
| - arm_joint8 |
| joint_names: |
| - FR_hip_joint |
| - FR_thigh_joint |
| - FR_calf_joint |
| - FL_hip_joint |
| - FL_thigh_joint |
| - FL_calf_joint |
| - RR_hip_joint |
| - RR_thigh_joint |
| - RR_calf_joint |
| - RL_hip_joint |
| - RL_thigh_joint |
| - RL_calf_joint |
| - FR_foot_joint |
| - FL_foot_joint |
| - RR_foot_joint |
| - RL_foot_joint |
|
|
