KALK HDCC

Warning: server-side DEV_AUTH_BYPASS is active. Auth0 is not enforcing login.

robot

hip_offsetrobot.hip_offsetDefault: 0base_height_targetrobot.base_height_targetDefault: 0.75

resets

reset_joint_pos_noiseresets.reset_joint_pos_noiseDefault: 0.05reset_base_height_noiseresets.reset_base_height_noiseDefault: 0.05

actions

action_scaleactions.action_scaleDefault: 0.25clip_actionsactions.clip_actionsDefault: true

compute

docker_imagecompute.docker_imageDefault: "nvcr.io/nvidia/isaac-lab:2.0.0"compute_targetcompute.compute_targetDefault: "mock-local"isaac_lab_versioncompute.isaac_lab_versionDefault: "2.0.0"

rewards

alive_weightrewards.alive_weightDefault: 0.5action_rate_penaltyrewards.action_rate_penaltyDefault: 0.01stand_still_penaltyrewards.stand_still_penaltyDefault: 0.2feet_air_time_weightrewards.feet_air_time_weightDefault: 0.1track_ang_vel_weightrewards.track_ang_vel_weightDefault: 0.5track_lin_vel_weightrewards.track_lin_vel_weightDefault: 1

commands

target_linear_velocitycommands.target_linear_velocityDefault: 0.5target_angular_velocitycommands.target_angular_velocityDefault: 0

algorithm

gammaalgorithm.gammaDefault: 0.99batch_sizealgorithm.batch_sizeDefault: 2048clip_paramalgorithm.clip_paramDefault: 0.2learning_ratealgorithm.learning_rateDefault: 0.0003max_iterationsalgorithm.max_iterationsDefault: 2000

curriculum

enabledcurriculum.enabledDefault: falseend_velocitycurriculum.end_velocityDefault: 1start_velocitycurriculum.start_velocityDefault: 0.2

evaluation

record_videoevaluation.record_videoDefault: trueeval_intervalevaluation.eval_intervalDefault: 100

environment

seedenvironment.seedDefault: 42num_envsenvironment.num_envsDefault: 4096episode_length_secondsenvironment.episode_length_secondsDefault: 20

observations

history_lengthobservations.history_lengthDefault: 1include_base_lin_velobservations.include_base_lin_velDefault: trueinclude_projected_gravityobservations.include_projected_gravityDefault: true

terminations

enable_timeoutterminations.enable_timeoutDefault: truebase_height_minterminations.base_height_minDefault: 0.35orientation_limit_radterminations.orientation_limit_radDefault: 1

domain_randomization

enableddomain_randomization.enabledDefault: truemass_scale_maxdomain_randomization.mass_scale_maxDefault: 1.1mass_scale_mindomain_randomization.mass_scale_minDefault: 0.9friction_range_maxdomain_randomization.friction_range_maxDefault: 1.6friction_range_mindomain_randomization.friction_range_minDefault: 0.4