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