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Kennyp-Chen
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bfmzero-23dof

Reinforcement Learning
robot
g1
bfmzero
Model card Files
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Kennyp-Chen commited on
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Files changed (7) hide show
  1. README.md +42 -0
  2. config.json +195 -0
  3. config.yaml +1039 -0
  4. init_kwargs.json +1548 -0
  5. model_384000000.safetensors +3 -0
  6. optimizers_384000000.pth +3 -0
  7. train_status.json +3 -0
README.md ADDED
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1
+ ---
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+ license: other
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+ tags:
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+ - reinforcement-learning
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+ - robot
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+ - g1
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+ - bfmzero
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+ ---
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+
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+ # BFMZero - 23DoF Checkpoint (Final)
11
+
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+ Trained checkpoint for BFMZero (FBcprAuxAgent / FBcprAuxModel) with **23 degrees of freedom**.
13
+
14
+ ## Training Status
15
+
16
+ - **Steps**: 384,000,000
17
+ - **Config**: Residual MLP with z_dim=256, hidden_dim=2048, 4 hidden layers
18
+ - **Device**: CUDA
19
+
20
+ ## Files
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+
22
+ | File | Description |
23
+ |------|-------------|
24
+ | `model_384000000.safetensors` | Model weights (SafeTensors format) |
25
+ | `optimizers_384000000.pth` | Optimizer states |
26
+ | `config.json` | Model architecture configuration |
27
+ | `config.yaml` | Full training configuration |
28
+ | `init_kwargs.json` | Initialization parameters |
29
+ | `train_status.json` | Training step counter |
30
+
31
+ ## Usage
32
+
33
+ ```python
34
+ from huggingface_hub import hf_hub_download
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+ import torch
36
+
37
+ # Download model weights
38
+ model_path = hf_hub_download(
39
+ repo_id="Kennyp-Chen/bfmzero-23dof",
40
+ filename="model_384000000.safetensors"
41
+ )
42
+ ```
config.json ADDED
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1
+ {
2
+ "name": "FBcprAuxAgent",
3
+ "model": {
4
+ "name": "FBcprAuxModel",
5
+ "device": "cuda",
6
+ "archi": {
7
+ "name": "FBcprAuxModelArchiConfig",
8
+ "z_dim": 256,
9
+ "norm_z": true,
10
+ "f": {
11
+ "name": "ForwardArchi",
12
+ "hidden_dim": 2048,
13
+ "model": "residual",
14
+ "hidden_layers": 4,
15
+ "embedding_layers": 2,
16
+ "num_parallel": 2,
17
+ "ensemble_mode": "batch",
18
+ "input_filter": {
19
+ "name": "DictInputFilterConfig",
20
+ "key": [
21
+ "state",
22
+ "privileged_state",
23
+ "last_action",
24
+ "history_actor"
25
+ ]
26
+ }
27
+ },
28
+ "b": {
29
+ "name": "BackwardArchi",
30
+ "hidden_dim": 256,
31
+ "hidden_layers": 1,
32
+ "norm": true,
33
+ "input_filter": {
34
+ "name": "DictInputFilterConfig",
35
+ "key": [
36
+ "state",
37
+ "privileged_state"
38
+ ]
39
+ }
40
+ },
41
+ "actor": {
42
+ "name": "actor",
43
+ "model": "residual",
44
+ "hidden_dim": 2048,
45
+ "hidden_layers": 4,
46
+ "embedding_layers": 2,
47
+ "input_filter": {
48
+ "name": "DictInputFilterConfig",
49
+ "key": [
50
+ "state",
51
+ "last_action",
52
+ "history_actor"
53
+ ]
54
+ }
55
+ },
56
+ "critic": {
57
+ "name": "ForwardArchi",
58
+ "hidden_dim": 2048,
59
+ "model": "residual",
60
+ "hidden_layers": 4,
61
+ "embedding_layers": 2,
62
+ "num_parallel": 2,
63
+ "ensemble_mode": "batch",
64
+ "input_filter": {
65
+ "name": "DictInputFilterConfig",
66
+ "key": [
67
+ "state",
68
+ "privileged_state",
69
+ "last_action",
70
+ "history_actor"
71
+ ]
72
+ }
73
+ },
74
+ "discriminator": {
75
+ "name": "DiscriminatorArchi",
76
+ "hidden_dim": 1024,
77
+ "hidden_layers": 2,
78
+ "input_filter": {
79
+ "name": "DictInputFilterConfig",
80
+ "key": [
81
+ "state",
82
+ "privileged_state"
83
+ ]
84
+ }
85
+ },
86
+ "aux_critic": {
87
+ "name": "ForwardArchi",
88
+ "hidden_dim": 2048,
89
+ "model": "residual",
90
+ "hidden_layers": 4,
91
+ "embedding_layers": 2,
92
+ "num_parallel": 2,
93
+ "ensemble_mode": "batch",
94
+ "input_filter": {
95
+ "name": "DictInputFilterConfig",
96
+ "key": [
97
+ "state",
98
+ "privileged_state",
99
+ "last_action",
100
+ "history_actor"
101
+ ]
102
+ }
103
+ }
104
+ },
105
+ "obs_normalizer": {
106
+ "name": "ObsNormalizerConfig",
107
+ "normalizers": {
108
+ "state": {
109
+ "name": "BatchNormNormalizerConfig",
110
+ "momentum": 0.01
111
+ },
112
+ "privileged_state": {
113
+ "name": "BatchNormNormalizerConfig",
114
+ "momentum": 0.01
115
+ },
116
+ "last_action": {
117
+ "name": "BatchNormNormalizerConfig",
118
+ "momentum": 0.01
119
+ },
120
+ "history_actor": {
121
+ "name": "BatchNormNormalizerConfig",
122
+ "momentum": 0.01
123
+ }
124
+ },
125
+ "allow_mismatching_keys": true
126
+ },
127
+ "inference_batch_size": 256000,
128
+ "seq_length": 8,
129
+ "actor_std": 0.05,
130
+ "amp": false,
131
+ "norm_aux_reward": {
132
+ "name": "RewardNormalizer",
133
+ "translate": false,
134
+ "scale": true
135
+ }
136
+ },
137
+ "train": {
138
+ "name": "FBcprAuxAgentTrainConfig",
139
+ "lr_f": 0.0003,
140
+ "lr_b": 1e-05,
141
+ "lr_actor": 0.0003,
142
+ "weight_decay": 0.0,
143
+ "clip_grad_norm": 0.0,
144
+ "fb_target_tau": 0.01,
145
+ "ortho_coef": 100.0,
146
+ "train_goal_ratio": 0.2,
147
+ "fb_pessimism_penalty": 0.0,
148
+ "actor_pessimism_penalty": 0.5,
149
+ "stddev_clip": 0.3,
150
+ "q_loss_coef": 0.0,
151
+ "batch_size": 512,
152
+ "discount": 0.98,
153
+ "use_mix_rollout": true,
154
+ "update_z_every_step": 100,
155
+ "z_buffer_size": 8192,
156
+ "rollout_expert_trajectories": true,
157
+ "rollout_expert_trajectories_length": 250,
158
+ "rollout_expert_trajectories_percentage": 0.5,
159
+ "lr_discriminator": 1e-05,
160
+ "lr_critic": 0.0003,
161
+ "critic_target_tau": 0.005,
162
+ "critic_pessimism_penalty": 0.5,
163
+ "reg_coeff": 0.05,
164
+ "scale_reg": true,
165
+ "expert_asm_ratio": 0.6,
166
+ "relabel_ratio": 0.8,
167
+ "grad_penalty_discriminator": 10.0,
168
+ "weight_decay_discriminator": 0.0,
169
+ "lr_aux_critic": 0.0003,
170
+ "reg_coeff_aux": 0.02,
171
+ "aux_critic_pessimism_penalty": 0.5
172
+ },
173
+ "aux_rewards": [
174
+ "penalty_torques",
175
+ "penalty_action_rate",
176
+ "limits_dof_pos",
177
+ "limits_torque",
178
+ "penalty_undesired_contact",
179
+ "penalty_feet_ori",
180
+ "penalty_ankle_roll",
181
+ "penalty_slippage"
182
+ ],
183
+ "aux_rewards_scaling": {
184
+ "penalty_action_rate": -0.1,
185
+ "penalty_feet_ori": -0.4,
186
+ "penalty_ankle_roll": -4.0,
187
+ "limits_dof_pos": -10.0,
188
+ "penalty_slippage": -2.0,
189
+ "penalty_undesired_contact": -1.0,
190
+ "penalty_torques": 0.0,
191
+ "limits_torque": 0.0
192
+ },
193
+ "cudagraphs": false,
194
+ "compile": false
195
+ }
config.yaml ADDED
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1
+ env:
2
+ _target_: humanoidverse.envs.legged_robot_motions.legged_robot_motions.LeggedRobotMotions
3
+ _recursive_: false
4
+ config:
5
+ experiment_name: ${experiment_name}
6
+ num_envs: ${num_envs}
7
+ headless: true
8
+ simulator: ${simulator}
9
+ save_rendering_dir: null
10
+ ckpt_dir: null
11
+ robot: ${robot}
12
+ domain_rand: ${domain_rand}
13
+ rewards: ${rewards}
14
+ terrain: ${terrain}
15
+ obs: ${obs}
16
+ env_spacing: 5.0
17
+ max_episode_length_s: 10
18
+ normalization:
19
+ clip_actions: 100.0
20
+ clip_observations: 100.0
21
+ termination:
22
+ terminate_when_close_to_dof_pos_limit: false
23
+ terminate_when_close_to_dof_vel_limit: false
24
+ terminate_when_close_to_torque_limit: false
25
+ terminate_by_contact: false
26
+ terminate_by_gravity: false
27
+ terminate_by_low_height: false
28
+ terminate_when_motion_end: false
29
+ terminate_when_motion_far: false
30
+ termination_scales:
31
+ termination_close_to_dof_pos_limit: 0.98
32
+ termination_close_to_dof_vel_limit: 0.98
33
+ termination_close_to_torque_limit: 0.98
34
+ termination_min_base_height: 0.2
35
+ termination_gravity_x: 0.8
36
+ termination_gravity_y: 0.8
37
+ termination_motion_far_threshold: 1.5
38
+ termination_probality:
39
+ terminate_when_close_to_dof_pos_limit: 0.25
40
+ terminate_when_close_to_dof_vel_limit: 0.25
41
+ terminate_when_close_to_torque_limit: 0.25
42
+ termination_curriculum:
43
+ terminate_when_motion_far_curriculum: false
44
+ terminate_when_motion_far_initial_threshold: 1.5
45
+ terminate_when_motion_far_threshold_max: 0.5
46
+ terminate_when_motion_far_threshold_min: 0.25
47
+ terminate_when_motion_far_curriculum_degree: 2.5e-05
48
+ terminate_when_motion_far_curriculum_level_down_threshold: 40
49
+ terminate_when_motion_far_curriculum_level_up_threshold: 42
50
+ resample_motion_when_training: false
51
+ resample_time_interval_s: 150
52
+ noise_to_initial_level: 0
53
+ init_noise_scale:
54
+ dof_pos: 0.1
55
+ dof_vel: 0.15
56
+ root_pos: 0.05
57
+ root_rot: 10
58
+ root_vel: 0.01
59
+ root_ang_vel: 0.01
60
+ use_teleop_control: false
61
+ enforce_randomize_motion_start_eval: false
62
+ lie_down_init: true
63
+ lie_down_init_prob: 0.3
64
+ log_task_name: legged_motions
65
+ eval_overrides:
66
+ env:
67
+ config:
68
+ max_episode_length_s: 100000
69
+ simulator:
70
+ _target_: humanoidverse.simulator.isaacsim.isaacsim.IsaacSim
71
+ _recursive_: false
72
+ config:
73
+ name: isaacsim
74
+ terrain: ${terrain}
75
+ plane:
76
+ static_friction: 1.0
77
+ dynamic_friction: 1.0
78
+ restitution: 0.0
79
+ sim:
80
+ fps: 200
81
+ control_decimation: 4
82
+ substeps: 1
83
+ physx:
84
+ num_threads: 10
85
+ solver_type: 1
86
+ num_position_iterations: 4
87
+ num_velocity_iterations: 0
88
+ contact_offset: 0.01
89
+ rest_offset: 0.0
90
+ bounce_threshold_velocity: 0.5
91
+ max_depenetration_velocity: 1.0
92
+ default_buffer_size_multiplier: 5
93
+ contact_collection: 2
94
+ render_mode: human
95
+ render_interval: 4
96
+ scene:
97
+ num_envs: ${num_envs}
98
+ env_spacing: ${env.config.env_spacing}
99
+ replicate_physics: true
100
+ domain_rand:
101
+ push_robots: true
102
+ push_interval_s:
103
+ - 1
104
+ - 3
105
+ max_push_vel_xy: 0.5
106
+ max_push_ang_vel: 0.5
107
+ push_robot_recovery_time: 2.0
108
+ randomize_base_com: true
109
+ base_com_range:
110
+ x:
111
+ - -0.02
112
+ - 0.02
113
+ 'y':
114
+ - -0.02
115
+ - 0.02
116
+ z:
117
+ - -0.02
118
+ - 0.02
119
+ randomize_link_mass: true
120
+ link_mass_range:
121
+ - 0.95
122
+ - 1.05
123
+ randomize_pd_gain: false
124
+ kp_range:
125
+ - 0.75
126
+ - 1.25
127
+ kd_range:
128
+ - 0.75
129
+ - 1.25
130
+ randomize_friction: true
131
+ friction_range:
132
+ - 0.5
133
+ - 1.25
134
+ randomize_base_mass: false
135
+ randomize_torque_rfi: false
136
+ rfi_lim: 0.1
137
+ randomize_rfi_lim: false
138
+ rfi_lim_range:
139
+ - 0.5
140
+ - 1.5
141
+ randomize_ctrl_delay: false
142
+ ctrl_delay_step_range:
143
+ - 0
144
+ - 1
145
+ randomize_default_dof_pos: true
146
+ default_dof_pos_noise_range:
147
+ - -0.02
148
+ - 0.02
149
+ rewards:
150
+ set_reward: Zhengyi
151
+ set_reward_date: 20250320
152
+ only_positive_rewards: false
153
+ reward_scales:
154
+ penalty_torques: -1.0e-06
155
+ penalty_undesired_contact: -1
156
+ penalty_action_rate: -0.5
157
+ penalty_ankle_roll: -0.5
158
+ penalty_feet_ori: -0.1
159
+ feet_heading_alignment: -0.1
160
+ penalty_slippage: -1.0
161
+ limits_dof_pos: -10.0
162
+ limits_dof_vel: -5.0
163
+ limits_torque: -5.0
164
+ reward_penalty_curriculum: true
165
+ reward_initial_penalty_scale: 0.1
166
+ reward_min_penalty_scale: 0.0
167
+ reward_max_penalty_scale: 1.0
168
+ reward_penalty_level_down_threshold: 40
169
+ reward_penalty_level_up_threshold: 42
170
+ reward_penalty_degree: 1.0e-05
171
+ num_compute_average_epl: 10000
172
+ reward_limit:
173
+ soft_dof_pos_limit: 0.95
174
+ soft_dof_vel_limit: 0.95
175
+ soft_torque_limit: 0.95
176
+ reward_limits_curriculum:
177
+ soft_dof_pos_curriculum: false
178
+ soft_dof_pos_initial_limit: 1.15
179
+ soft_dof_pos_max_limit: 1.15
180
+ soft_dof_pos_min_limit: 0.95
181
+ soft_dof_pos_curriculum_degree: 2.5e-07
182
+ soft_dof_pos_curriculum_level_down_threshold: 40
183
+ soft_dof_pos_curriculum_level_up_threshold: 42
184
+ soft_dof_vel_curriculum: false
185
+ soft_dof_vel_initial_limit: 1.15
186
+ soft_dof_vel_max_limit: 1.25
187
+ soft_dof_vel_min_limit: 0.95
188
+ soft_dof_vel_curriculum_degree: 2.5e-07
189
+ soft_dof_vel_curriculum_level_down_threshold: 40
190
+ soft_dof_vel_curriculum_level_up_threshold: 42
191
+ soft_torque_curriculum: false
192
+ soft_torque_initial_limit: 1.15
193
+ soft_torque_max_limit: 1.25
194
+ soft_torque_min_limit: 0.85
195
+ soft_torque_curriculum_degree: 2.5e-07
196
+ soft_torque_curriculum_level_down_threshold: 40
197
+ soft_torque_curriculum_level_up_threshold: 42
198
+ reward_penalty_reward_names:
199
+ - penalty_torques
200
+ - penalty_action_rate
201
+ - limits_dof_pos
202
+ - limits_torque
203
+ - penalty_slippage
204
+ - penalty_undesired_contact
205
+ - penalty_ankle_roll
206
+ - penalty_feet_ori
207
+ robot:
208
+ dof_obs_size: 23
209
+ number_of_actions: ???
210
+ self_obs_max_coords: ???
211
+ num_bodies: 24
212
+ algo_obs_dim_dict: ???
213
+ key_bodies:
214
+ - left_ankle_roll_link
215
+ - right_ankle_roll_link
216
+ contact_bodies:
217
+ - left_ankle_roll_link
218
+ - right_ankle_roll_link
219
+ foot_name: ankle_roll_link
220
+ init_state:
221
+ pos:
222
+ - 0.0
223
+ - 0.0
224
+ - 0.8
225
+ rot:
226
+ - 0.0
227
+ - 0.0
228
+ - 0.0
229
+ - 1.0
230
+ lin_vel:
231
+ - 0.0
232
+ - 0.0
233
+ - 0.0
234
+ ang_vel:
235
+ - 0.0
236
+ - 0.0
237
+ - 0.0
238
+ default_joint_angles:
239
+ left_hip_pitch_joint: -0.1
240
+ left_hip_roll_joint: 0.0
241
+ left_hip_yaw_joint: 0.0
242
+ left_knee_joint: 0.3
243
+ left_ankle_pitch_joint: -0.2
244
+ left_ankle_roll_joint: 0.0
245
+ right_hip_pitch_joint: -0.1
246
+ right_hip_roll_joint: 0.0
247
+ right_hip_yaw_joint: 0.0
248
+ right_knee_joint: 0.3
249
+ right_ankle_pitch_joint: -0.2
250
+ right_ankle_roll_joint: 0.0
251
+ waist_yaw_joint: 0.0
252
+ left_shoulder_pitch_joint: 0.0
253
+ left_shoulder_roll_joint: 0.0
254
+ left_shoulder_yaw_joint: 0.0
255
+ left_elbow_joint: 0.0
256
+ left_wrist_roll_joint: 0.0
257
+ right_shoulder_pitch_joint: 0.0
258
+ right_shoulder_roll_joint: 0.0
259
+ right_shoulder_yaw_joint: 0.0
260
+ right_elbow_joint: 0.0
261
+ right_wrist_roll_joint: 0.0
262
+ contact_pairs_multiplier: 16
263
+ num_key_bodies: ${len:${robot.key_bodies}}
264
+ mimic_small_marker_bodies: null
265
+ randomize_link_body_names:
266
+ - pelvis
267
+ - left_hip_yaw_link
268
+ - left_hip_roll_link
269
+ - left_hip_pitch_link
270
+ - left_knee_link
271
+ - right_hip_yaw_link
272
+ - right_hip_roll_link
273
+ - right_hip_pitch_link
274
+ - right_knee_link
275
+ control:
276
+ control_type: P
277
+ stiffness:
278
+ hip_yaw: 40.17924
279
+ hip_roll: 99.09843
280
+ hip_pitch: 99.09843
281
+ knee: 99.09843
282
+ ankle_pitch: 28.50125
283
+ ankle_roll: 28.50125
284
+ waist_yaw: 300
285
+ shoulder_pitch: 14.25062
286
+ shoulder_roll: 14.25062
287
+ shoulder_yaw: 14.25062
288
+ elbow: 14.25062
289
+ wrist_roll: 14.25062
290
+ damping:
291
+ hip_yaw: 2.55789
292
+ hip_roll: 6.3088
293
+ hip_pitch: 6.3088
294
+ knee: 6.3088
295
+ ankle_pitch: 1.81445
296
+ ankle_roll: 1.81445
297
+ waist_yaw: 5
298
+ shoulder_pitch: 0.90722
299
+ shoulder_roll: 0.90722
300
+ shoulder_yaw: 0.90722
301
+ elbow: 0.90722
302
+ wrist_roll: 0.90722
303
+ action_scale: 0.25
304
+ isaac_pd_scale: false
305
+ clamp_actions: 1.0
306
+ clip_torques: true
307
+ integral:
308
+ hip_yaw: 0.0
309
+ hip_roll: 0.0
310
+ hip_pitch: 0.0
311
+ knee: 0.0
312
+ ankle_pitch: 0.0
313
+ ankle_roll: 0.0
314
+ waist_yaw: 0.0
315
+ shoulder_pitch: 2.0
316
+ shoulder_roll: 2.0
317
+ shoulder_yaw: 2.0
318
+ elbow: 2.0
319
+ wrist_roll: 1.5
320
+ action_clip_value: 5.0
321
+ action_rescale: true
322
+ normalize_action: true
323
+ normalize_action_from: 1.0
324
+ normalize_action_to: 5.0
325
+ asset:
326
+ collapse_fixed_joints: true
327
+ replace_cylinder_with_capsule: true
328
+ flip_visual_attachments: false
329
+ armature: 0.001
330
+ thickness: 0.01
331
+ max_angular_velocity: 1000.0
332
+ max_linear_velocity: 1000.0
333
+ density: 0.001
334
+ angular_damping: 0.0
335
+ linear_damping: 0.0
336
+ disable_gravity: null
337
+ fix_base_link: false
338
+ default_dof_drive_mode: 3
339
+ robot_type: g1_23dof
340
+ urdf_file: g1/${robot.asset.robot_type}.urdf
341
+ usd_file: /home/hero/Projects/Robotics/RL/Unitree_Assets/g1_23dof/usd/g1_23dof_rev_1_0/g1_23dof_rev_1_0.usd
342
+ xml_file: g1/${robot.asset.robot_type}.xml
343
+ asset_root: humanoidverse/data/robots
344
+ self_collisions: 0
345
+ filter_ints: null
346
+ actions_dim: 23
347
+ lower_body_actions_dim: 12
348
+ upper_body_actions_dim: 11
349
+ body_keys:
350
+ - lower_body
351
+ - upper_body
352
+ policy_obs_dim: -1
353
+ critic_obs_dim: -1
354
+ num_feet: 2
355
+ right_foot_name: right_ankle_roll_link
356
+ left_foot_name: left_ankle_roll_link
357
+ knee_name: knee_link
358
+ has_torso: true
359
+ torso_name: torso_link
360
+ has_upper_body_dof: true
361
+ dof_names:
362
+ - left_hip_pitch_joint
363
+ - left_hip_roll_joint
364
+ - left_hip_yaw_joint
365
+ - left_knee_joint
366
+ - left_ankle_pitch_joint
367
+ - left_ankle_roll_joint
368
+ - right_hip_pitch_joint
369
+ - right_hip_roll_joint
370
+ - right_hip_yaw_joint
371
+ - right_knee_joint
372
+ - right_ankle_pitch_joint
373
+ - right_ankle_roll_joint
374
+ - waist_yaw_joint
375
+ - left_shoulder_pitch_joint
376
+ - left_shoulder_roll_joint
377
+ - left_shoulder_yaw_joint
378
+ - left_elbow_joint
379
+ - left_wrist_roll_joint
380
+ - right_shoulder_pitch_joint
381
+ - right_shoulder_roll_joint
382
+ - right_shoulder_yaw_joint
383
+ - right_elbow_joint
384
+ - right_wrist_roll_joint
385
+ upper_dof_names:
386
+ - waist_yaw_joint
387
+ - left_shoulder_pitch_joint
388
+ - left_shoulder_roll_joint
389
+ - left_shoulder_yaw_joint
390
+ - left_elbow_joint
391
+ - left_wrist_roll_joint
392
+ - right_shoulder_pitch_joint
393
+ - right_shoulder_roll_joint
394
+ - right_shoulder_yaw_joint
395
+ - right_elbow_joint
396
+ - right_wrist_roll_joint
397
+ upper_left_arm_dof_names:
398
+ - left_shoulder_pitch_joint
399
+ - left_shoulder_roll_joint
400
+ - left_shoulder_yaw_joint
401
+ - left_elbow_joint
402
+ - left_wrist_roll_joint
403
+ upper_right_arm_dof_names:
404
+ - right_shoulder_pitch_joint
405
+ - right_shoulder_roll_joint
406
+ - right_shoulder_yaw_joint
407
+ - right_elbow_joint
408
+ - right_wrist_roll_joint
409
+ lower_dof_names:
410
+ - left_hip_pitch_joint
411
+ - left_hip_roll_joint
412
+ - left_hip_yaw_joint
413
+ - left_knee_joint
414
+ - left_ankle_pitch_joint
415
+ - left_ankle_roll_joint
416
+ - right_hip_pitch_joint
417
+ - right_hip_roll_joint
418
+ - right_hip_yaw_joint
419
+ - right_knee_joint
420
+ - right_ankle_pitch_joint
421
+ - right_ankle_roll_joint
422
+ - waist_yaw_joint
423
+ waist_dof_names:
424
+ - waist_yaw_joint
425
+ waist_yaw_dof_name: waist_yaw_joint
426
+ arm_dof_names:
427
+ - left_shoulder_pitch_joint
428
+ - left_shoulder_roll_joint
429
+ - left_shoulder_yaw_joint
430
+ - left_elbow_joint
431
+ - left_wrist_roll_joint
432
+ - right_shoulder_pitch_joint
433
+ - right_shoulder_roll_joint
434
+ - right_shoulder_yaw_joint
435
+ - right_elbow_joint
436
+ - right_wrist_roll_joint
437
+ left_arm_dof_names:
438
+ - left_shoulder_pitch_joint
439
+ - left_shoulder_roll_joint
440
+ - left_shoulder_yaw_joint
441
+ - left_elbow_joint
442
+ - left_wrist_roll_joint
443
+ right_arm_dof_names:
444
+ - right_shoulder_pitch_joint
445
+ - right_shoulder_roll_joint
446
+ - right_shoulder_yaw_joint
447
+ - right_elbow_joint
448
+ - right_wrist_roll_joint
449
+ left_ankle_dof_names:
450
+ - left_ankle_pitch_joint
451
+ - left_ankle_roll_joint
452
+ right_ankle_dof_names:
453
+ - right_ankle_pitch_joint
454
+ - right_ankle_roll_joint
455
+ knee_dof_names:
456
+ - left_knee_joint
457
+ - right_knee_joint
458
+ dof_pos_lower_limit_list:
459
+ - -2.5307
460
+ - -0.5236
461
+ - -2.7576
462
+ - -0.087267
463
+ - -0.87267
464
+ - -0.2618
465
+ - -2.5307
466
+ - -2.9671
467
+ - -2.7576
468
+ - -0.087267
469
+ - -0.87267
470
+ - -0.2618
471
+ - -2.618
472
+ - -3.0892
473
+ - -1.5882
474
+ - -2.618
475
+ - -1.0472
476
+ - -1.972222054
477
+ - -3.0892
478
+ - -2.2515
479
+ - -2.618
480
+ - -1.0472
481
+ - -1.972222054
482
+ dof_pos_upper_limit_list:
483
+ - 2.8798
484
+ - 2.9671
485
+ - 2.7576
486
+ - 2.8798
487
+ - 0.5236
488
+ - 0.2618
489
+ - 2.8798
490
+ - 0.5236
491
+ - 2.7576
492
+ - 2.8798
493
+ - 0.5236
494
+ - 0.2618
495
+ - 2.618
496
+ - 2.6704
497
+ - 2.2515
498
+ - 2.618
499
+ - 2.0944
500
+ - 1.972222054
501
+ - 2.6704
502
+ - 1.5882
503
+ - 2.618
504
+ - 2.0944
505
+ - 1.972222054
506
+ dof_vel_limit_list:
507
+ - 32.0
508
+ - 32.0
509
+ - 32.0
510
+ - 20.0
511
+ - 37.0
512
+ - 37.0
513
+ - 32.0
514
+ - 32.0
515
+ - 32.0
516
+ - 20.0
517
+ - 37.0
518
+ - 37.0
519
+ - 32.0
520
+ - 37.0
521
+ - 37.0
522
+ - 37.0
523
+ - 37.0
524
+ - 37.0
525
+ - 37.0
526
+ - 37.0
527
+ - 37.0
528
+ - 37.0
529
+ - 37.0
530
+ dof_effort_limit_list:
531
+ - 139.0
532
+ - 139.0
533
+ - 88.0
534
+ - 139.0
535
+ - 50.0
536
+ - 50.0
537
+ - 139.0
538
+ - 139.0
539
+ - 88.0
540
+ - 139.0
541
+ - 50.0
542
+ - 50.0
543
+ - 88.0
544
+ - 25.0
545
+ - 25.0
546
+ - 25.0
547
+ - 25.0
548
+ - 25.0
549
+ - 25.0
550
+ - 25.0
551
+ - 25.0
552
+ - 25.0
553
+ - 25.0
554
+ dof_effort_limit_scale: 0.8
555
+ dof_armature_list:
556
+ - 0.025101925
557
+ - 0.025101925
558
+ - 0.01017752004
559
+ - 0.025101925
560
+ - 0.00721945
561
+ - 0.00721945
562
+ - 0.025101925
563
+ - 0.025101925
564
+ - 0.01017752004
565
+ - 0.025101925
566
+ - 0.00721945
567
+ - 0.00721945
568
+ - 0.01017752004
569
+ - 0.003609725
570
+ - 0.003609725
571
+ - 0.003609725
572
+ - 0.003609725
573
+ - 0.003609725
574
+ - 0.003609725
575
+ - 0.003609725
576
+ - 0.003609725
577
+ - 0.003609725
578
+ - 0.003609725
579
+ dof_joint_friction_list:
580
+ - 0.03
581
+ - 0.03
582
+ - 0.03
583
+ - 0.03
584
+ - 0.03
585
+ - 0.03
586
+ - 0.03
587
+ - 0.03
588
+ - 0.03
589
+ - 0.03
590
+ - 0.03
591
+ - 0.03
592
+ - 0.03
593
+ - 0.03
594
+ - 0.03
595
+ - 0.03
596
+ - 0.03
597
+ - 0.03
598
+ - 0.03
599
+ - 0.03
600
+ - 0.03
601
+ - 0.03
602
+ - 0.03
603
+ body_names:
604
+ - pelvis
605
+ - left_hip_pitch_link
606
+ - left_hip_roll_link
607
+ - left_hip_yaw_link
608
+ - left_knee_link
609
+ - left_ankle_pitch_link
610
+ - left_ankle_roll_link
611
+ - right_hip_pitch_link
612
+ - right_hip_roll_link
613
+ - right_hip_yaw_link
614
+ - right_knee_link
615
+ - right_ankle_pitch_link
616
+ - right_ankle_roll_link
617
+ - torso_link
618
+ - left_shoulder_pitch_link
619
+ - left_shoulder_roll_link
620
+ - left_shoulder_yaw_link
621
+ - left_elbow_link
622
+ - left_wrist_roll_rubber_hand
623
+ - right_shoulder_pitch_link
624
+ - right_shoulder_roll_link
625
+ - right_shoulder_yaw_link
626
+ - right_elbow_link
627
+ - right_wrist_roll_rubber_hand
628
+ terminate_after_contacts_on:
629
+ - pelvis
630
+ - shoulder
631
+ - hip
632
+ penalize_contacts_on:
633
+ - pelvis
634
+ - shoulder
635
+ - hip
636
+ motion:
637
+ motion_file: data/lafan_tail.pkl
638
+ asset:
639
+ assetRoot: humanoidverse/data/robots/g1/
640
+ assetFileName: g1_23dof.xml
641
+ urdfFileName: g1_23dof.urdf
642
+ humanoid_type: g1_23dof
643
+ bias_offset: false
644
+ has_self_collision: true
645
+ has_mesh: false
646
+ has_jt_limit: false
647
+ has_dof_subset: true
648
+ has_upright_start: true
649
+ has_smpl_pd_offset: false
650
+ remove_toe: false
651
+ motion_sym_loss: false
652
+ sym_loss_coef: 1
653
+ big_ankle: true
654
+ has_shape_obs: false
655
+ has_shape_obs_disc: false
656
+ has_shape_variation: false
657
+ uniform_sample: false
658
+ motion_fps_scale: 1.0
659
+ standardize_motion_length: true
660
+ standardize_motion_length_value: 10
661
+ reverse_motion: false
662
+ masterfoot: false
663
+ freeze_toe: false
664
+ freeze_hand: false
665
+ box_body: true
666
+ real_weight: true
667
+ real_weight_porpotion_capsules: true
668
+ real_weight_porpotion_boxes: true
669
+ body_names:
670
+ - pelvis
671
+ - left_hip_pitch_link
672
+ - left_hip_roll_link
673
+ - left_hip_yaw_link
674
+ - left_knee_link
675
+ - left_ankle_pitch_link
676
+ - left_ankle_roll_link
677
+ - right_hip_pitch_link
678
+ - right_hip_roll_link
679
+ - right_hip_yaw_link
680
+ - right_knee_link
681
+ - right_ankle_pitch_link
682
+ - right_ankle_roll_link
683
+ - torso_link
684
+ - left_shoulder_pitch_link
685
+ - left_shoulder_roll_link
686
+ - left_shoulder_yaw_link
687
+ - left_elbow_link
688
+ - left_wrist_roll_rubber_hand
689
+ - right_shoulder_pitch_link
690
+ - right_shoulder_roll_link
691
+ - right_shoulder_yaw_link
692
+ - right_elbow_link
693
+ - right_wrist_roll_rubber_hand
694
+ limb_weight_group:
695
+ - - left_hip_pitch_link
696
+ - left_hip_roll_link
697
+ - left_hip_yaw_link
698
+ - left_knee_link
699
+ - left_ankle_pitch_link
700
+ - left_ankle_roll_link
701
+ - - right_hip_pitch_link
702
+ - right_hip_roll_link
703
+ - right_hip_yaw_link
704
+ - right_knee_link
705
+ - right_ankle_pitch_link
706
+ - right_ankle_roll_link
707
+ - - pelvis
708
+ - torso_link
709
+ - - left_shoulder_pitch_link
710
+ - left_shoulder_roll_link
711
+ - left_shoulder_yaw_link
712
+ - left_elbow_link
713
+ - left_wrist_roll_rubber_hand
714
+ - - right_shoulder_pitch_link
715
+ - right_shoulder_roll_link
716
+ - right_shoulder_yaw_link
717
+ - right_elbow_link
718
+ - right_wrist_roll_rubber_hand
719
+ dof_names:
720
+ - left_hip_pitch_link
721
+ - left_hip_roll_link
722
+ - left_hip_yaw_link
723
+ - left_knee_link
724
+ - left_ankle_pitch_link
725
+ - left_ankle_roll_link
726
+ - right_hip_pitch_link
727
+ - right_hip_roll_link
728
+ - right_hip_yaw_link
729
+ - right_knee_link
730
+ - right_ankle_pitch_link
731
+ - right_ankle_roll_link
732
+ - torso_link
733
+ - left_shoulder_pitch_link
734
+ - left_shoulder_roll_link
735
+ - left_shoulder_yaw_link
736
+ - left_elbow_link
737
+ - left_wrist_roll_rubber_hand
738
+ - right_shoulder_pitch_link
739
+ - right_shoulder_roll_link
740
+ - right_shoulder_yaw_link
741
+ - right_elbow_link
742
+ - right_wrist_roll_rubber_hand
743
+ right_foot_name: r_foot_roll
744
+ left_foot_name: l_foot_roll
745
+ nums_extend_bodies: 1
746
+ extend_config:
747
+ - joint_name: head_link
748
+ parent_name: torso_link
749
+ pos:
750
+ - 0.0
751
+ - 0.0
752
+ - 0.35
753
+ rot:
754
+ - 1.0
755
+ - 0.0
756
+ - 0.0
757
+ - 0.0
758
+ motion_tracking_link:
759
+ - head_link
760
+ lower_body_link:
761
+ - pelvis
762
+ - left_hip_pitch_link
763
+ - left_hip_roll_link
764
+ - left_hip_yaw_link
765
+ - left_knee_link
766
+ - left_ankle_pitch_link
767
+ - left_ankle_roll_link
768
+ - right_hip_pitch_link
769
+ - right_hip_roll_link
770
+ - right_hip_yaw_link
771
+ - right_knee_link
772
+ - right_ankle_pitch_link
773
+ - right_ankle_roll_link
774
+ - torso_link
775
+ upper_body_link:
776
+ - left_shoulder_pitch_link
777
+ - left_shoulder_roll_link
778
+ - left_shoulder_yaw_link
779
+ - left_elbow_link
780
+ - left_wrist_roll_rubber_hand
781
+ - right_shoulder_pitch_link
782
+ - right_shoulder_roll_link
783
+ - right_shoulder_yaw_link
784
+ - right_elbow_link
785
+ - right_wrist_roll_rubber_hand
786
+ - head_link
787
+ pelvis_link: pelvis
788
+ base_link: torso_link
789
+ hips_link:
790
+ - left_hip_pitch_link
791
+ - left_hip_roll_link
792
+ - left_hip_yaw_link
793
+ - right_hip_pitch_link
794
+ - right_hip_roll_link
795
+ - right_hip_yaw_link
796
+ joint_matches:
797
+ - - pelvis
798
+ - Pelvis
799
+ - - left_hip_pitch_link
800
+ - L_Hip
801
+ - - left_knee_link
802
+ - L_Knee
803
+ - - left_ankle_roll_link
804
+ - L_Ankle
805
+ - - right_hip_pitch_link
806
+ - R_Hip
807
+ - - right_knee_link
808
+ - R_Knee
809
+ - - right_ankle_roll_link
810
+ - R_Ankle
811
+ - - left_shoulder_roll_link
812
+ - L_Shoulder
813
+ - - left_elbow_link
814
+ - L_Elbow
815
+ - - left_hand_link
816
+ - L_Hand
817
+ - - right_shoulder_roll_link
818
+ - R_Shoulder
819
+ - - right_elbow_link
820
+ - R_Elbow
821
+ - - right_hand_link
822
+ - R_Hand
823
+ - - head_link
824
+ - Head
825
+ smpl_pose_modifier:
826
+ - Pelvis: '[np.pi/2, 0, np.pi/2]'
827
+ - L_Shoulder: '[0, 0, -np.pi/2]'
828
+ - R_Shoulder: '[0, 0, np.pi/2]'
829
+ - L_Elbow: '[0, -np.pi/2, 0]'
830
+ - R_Elbow: '[0, np.pi/2, 0]'
831
+ visualization:
832
+ customize_color: true
833
+ marker_joint_colors:
834
+ - - 0.929
835
+ - 0.867
836
+ - 0.437
837
+ - - 0.929
838
+ - 0.867
839
+ - 0.437
840
+ - - 0.929
841
+ - 0.867
842
+ - 0.437
843
+ - - 0.929
844
+ - 0.867
845
+ - 0.437
846
+ - - 0.929
847
+ - 0.867
848
+ - 0.437
849
+ - - 0.929
850
+ - 0.867
851
+ - 0.437
852
+ - - 0.929
853
+ - 0.867
854
+ - 0.437
855
+ - - 0.929
856
+ - 0.867
857
+ - 0.437
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