Initial commit

logs/s10_terrain_v4_50k_full/model_50000.json

@@ -0,0 +1,131 @@
+{
+  "format": "s10-terrain-policy-v1",
+  "step": 50000,
+  "history": 5,
+  "frame_dim": 53,
+  "observation_dim": 265,
+  "action_dim": 16,
+  "dt": 0.02,
+  "actor_hidden": [
+    256,
+    128,
+    64
+  ],
+  "actor_params": 110288,
+  "frame_terms": [
+    {
+      "name": "base_ang_vel",
+      "dim": 3,
+      "scale": 1.0
+    },
+    {
+      "name": "projected_gravity",
+      "dim": 3,
+      "scale": 1.0
+    },
+    {
+      "name": "joint_pos_rel",
+      "dim": 12,
+      "scale": 1.0
+    },
+    {
+      "name": "joint_vel_rel",
+      "dim": 12,
+      "scale": 0.05
+    },
+    {
+      "name": "wheel_vel_rel",
+      "dim": 4,
+      "scale": 0.05
+    },
+    {
+      "name": "last_action",
+      "dim": 16,
+      "scale": 1.0
+    },
+    {
+      "name": "command",
+      "dim": 3,
+      "scale": 1.0
+    }
+  ],
+  "history_layout": "term-wise blocks, oldest to newest (mjlab flattening)",
+  "env_action_order": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15
+  ],
+  "leg_scale": [
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8
+  ],
+  "wheel_scale": 35.0,
+  "wheel_clip": 35.0,
+  "default_joint_pos": [
+    0.1,
+    -0.35,
+    0.65,
+    -0.1,
+    -0.35,
+    0.65,
+    0.1,
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+    -0.65,
+    -0.1,
+    0.35,
+    -0.65,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+  ],
+  "leg_joint_names": [
+    "fl_hipx_joint",
+    "fl_hipy_joint",
+    "fl_knee_joint",
+    "fr_hipx_joint",
+    "fr_hipy_joint",
+    "fr_knee_joint",
+    "hl_hipx_joint",
+    "hl_hipy_joint",
+    "hl_knee_joint",
+    "hr_hipx_joint",
+    "hr_hipy_joint",
+    "hr_knee_joint"
+  ],
+  "wheel_joint_names": [
+    "fl_wheel_joint",
+    "fr_wheel_joint",
+    "hl_wheel_joint",
+    "hr_wheel_joint"
+  ],
+  "onnx": {
+    "input": "obs",
+    "output": "actions",
+    "opset": 17,
+    "max_abs_error_vs_torch": 7.487833499908447e-07
+  }
+}

logs/s10_terrain_v7_50k_20261101_225518/model_50000.json

@@ -0,0 +1,133 @@
+{
+  "format": "s10-terrain-policy-v1",
+  "step": 50000,
+  "history": 5,
+  "actor_schema": "s10-v7-53",
+  "actor_wheel_vel": true,
+  "frame_dim": 53,
+  "observation_dim": 265,
+  "action_dim": 16,
+  "dt": 0.02,
+  "actor_hidden": [
+    256,
+    128,
+    64
+  ],
+  "actor_params": 110288,
+  "frame_terms": [
+    {
+      "name": "base_ang_vel",
+      "dim": 3,
+      "scale": 1.0
+    },
+    {
+      "name": "projected_gravity",
+      "dim": 3,
+      "scale": 1.0
+    },
+    {
+      "name": "joint_pos_rel",
+      "dim": 12,
+      "scale": 1.0
+    },
+    {
+      "name": "joint_vel_rel",
+      "dim": 12,
+      "scale": 0.05
+    },
+    {
+      "name": "wheel_vel_rel",
+      "dim": 4,
+      "scale": 0.05
+    },
+    {
+      "name": "last_action",
+      "dim": 16,
+      "scale": 1.0
+    },
+    {
+      "name": "command",
+      "dim": 3,
+      "scale": 1.0
+    }
+  ],
+  "history_layout": "term-wise blocks, oldest to newest (mjlab flattening)",
+  "env_action_order": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15
+  ],
+  "leg_scale": [
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8
+  ],
+  "wheel_scale": 35.0,
+  "wheel_clip": 35.0,
+  "default_joint_pos": [
+    0.05,
+    -0.4363323129985824,
+    1.0,
+    -0.05,
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+    1.0,
+    0.05,
+    0.4363323129985824,
+    -1.0,
+    -0.05,
+    0.4363323129985824,
+    -1.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+  ],
+  "leg_joint_names": [
+    "fl_hipx_joint",
+    "fl_hipy_joint",
+    "fl_knee_joint",
+    "fr_hipx_joint",
+    "fr_hipy_joint",
+    "fr_knee_joint",
+    "hl_hipx_joint",
+    "hl_hipy_joint",
+    "hl_knee_joint",
+    "hr_hipx_joint",
+    "hr_hipy_joint",
+    "hr_knee_joint"
+  ],
+  "wheel_joint_names": [
+    "fl_wheel_joint",
+    "fr_wheel_joint",
+    "hl_wheel_joint",
+    "hr_wheel_joint"
+  ],
+  "onnx": {
+    "input": "obs",
+    "output": "actions",
+    "opset": 17,
+    "max_abs_error_vs_torch": 7.897615432739258e-07
+  }
+}