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