Uploading model files

config.yaml

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+fabric:
+  _target_: lightning.fabric.Fabric
+  _convert_: all
+  accelerator: gpu
+  devices: ${ngpu}
+  num_nodes: ${nodes}
+  strategy:
+    _target_: lightning.fabric.strategies.DDPStrategy
+  precision: ${amp_precision}
+  loggers:
+  - _target_: lightning.fabric.loggers.TensorBoardLogger
+    root_dir: ${save_dir}
+  - _target_: lightning.pytorch.loggers.WandbLogger
+    name: ${experiment_name}
+    save_dir: ${save_dir}
+    project: ${wandb.wandb_project}
+    tags: ${wandb.wandb_tags}
+    group: ${wandb.wandb_group}
+    id: ${wandb.wandb_id}
+    entity: ${wandb.wandb_entity}
+    resume: ${wandb.wandb_resume}
+ngpu: 1
+nodes: 1
+torch_deterministic: false
+amp_precision: 32-true
+eval_overrides:
+  ngpu: 1
+  nodes: 1
+  fabric:
+    loggers: null
+  headless: false
+  num_envs: 1
+  agent:
+    config:
+      expert_model_path: null
+      vae:
+        noise_type: zeros
+  motion_manager:
+    motion_sampling:
+      init_start_prob: 1.0
+    reset_track:
+      steps_min: 1000000
+      steps_max: 1000001
+  env:
+    config:
+      max_episode_length: 10000
+      enable_height_termination: false
+      mimic_early_termination: null
+agent:
+  _target_: protomotions.agents.masked_mimic.agent.MaskedMimic
+  _recursive_: false
+  config:
+    model:
+      _target_: protomotions.agents.masked_mimic.model.VaeDeterministicOutputModel
+      _recursive_: false
+      config:
+        vae_latent_dim: ${agent.config.vae.latent_dim}
+        vae_noise_type: ${agent.config.vae.noise_type}
+        trunk:
+          _target_: protomotions.agents.common.mlp.MultiHeadedMLP
+          _recursive_: false
+          num_out: ${robot.number_of_actions}
+          config:
+            input_models:
+              self_obs:
+                _target_: protomotions.agents.common.common.Flatten
+                _recursive_: false
+                num_in: ${env.config.humanoid_obs.obs_size}
+                num_out: ${.num_in}
+                config:
+                  obs_key: self_obs
+                  normalize_obs: true
+                  norm_clamp_value: 5
+              vae_latent:
+                _target_: protomotions.agents.common.common.Flatten
+                _recursive_: false
+                num_in: ${agent.config.vae.latent_dim}
+                num_out: ${.num_in}
+                config:
+                  obs_key: vae_latent
+                  normalize_obs: false
+                  norm_clamp_value: null
+              terrain: ${agent.config.modules.mlp_terrain}
+            trunk:
+              _target_: protomotions.agents.common.mlp.MLP
+              _recursive_: false
+              num_out: ${robot.number_of_actions}
+              config:
+                layers:
+                - units: 1024
+                  activation: relu
+                  use_layer_norm: false
+                - units: 1024
+                  activation: relu
+                  use_layer_norm: false
+                - units: 512
+                  activation: relu
+                  use_layer_norm: false
+        optimizer:
+          _target_: torch.optim.Adam
+          lr: 2.0e-05
+        encoder:
+          _target_: protomotions.agents.masked_mimic.model.VaeModule
+          _recursive_: false
+          config:
+            trunk:
+              _target_: protomotions.agents.common.mlp.MultiHeadedMLP
+              _recursive_: false
+              num_out: 512
+              config:
+                input_models:
+                  self_obs:
+                    _target_: protomotions.agents.common.common.Flatten
+                    _recursive_: false
+                    num_in: ${env.config.humanoid_obs.obs_size}
+                    num_out: ${.num_in}
+                    config:
+                      obs_key: self_obs
+                      normalize_obs: true
+                      norm_clamp_value: 5
+                  mimic_target_poses:
+                    _target_: protomotions.agents.common.common.Flatten
+                    _recursive_: false
+                    num_in: ${eval:${env.config.mimic_target_pose.num_future_steps}*${env.config.mimic_target_pose.num_obs_per_target_pose}}
+                    num_out: ${.num_in}
+                    config:
+                      normalize_obs: true
+                      norm_clamp_value: 5
+                      obs_key: mimic_target_poses
+                  masked_mimic_target_bodies_masks:
+                    _target_: protomotions.agents.common.common.Flatten
+                    config:
+                      normalize_obs: false
+                      obs_clamp_value: null
+                      obs_key: masked_mimic_target_bodies_masks
+                    num_in: ${eval:${eval:${len:${robot.trackable_bodies_subset}}+1}*2*${env.config.masked_mimic.masked_mimic_target_pose.num_future_steps}}
+                    num_out: ${.num_in}
+                trunk:
+                  _target_: protomotions.agents.common.mlp.MLP
+                  _recursive_: false
+                  num_out: 512
+                  config:
+                    layers:
+                    - units: 1024
+                      activation: relu
+                      use_layer_norm: false
+                    - units: 1024
+                      activation: relu
+                      use_layer_norm: false
+                    - units: 1024
+                      activation: relu
+                      use_layer_norm: false
+                    - units: 1024
+                      activation: relu
+                      use_layer_norm: false
+                    - units: 1024
+                      activation: relu
+                      use_layer_norm: false
+            mu_head: ${agent.config.modules.mlp_vae_output_head}
+            logvar_head: ${agent.config.modules.mlp_vae_output_head}
+        prior:
+          _target_: protomotions.agents.masked_mimic.model.VaeModule
+          _recursive_: false
+          config:
+            trunk:
+              _target_: protomotions.agents.common.transformer.Transformer
+              _recursive_: false
+              num_out: ${robot.number_of_actions}
+              config:
+                transformer_token_size: ${.latent_dim}
+                latent_dim: ${agent.config.modules.transformer_latent_dim}
+                ff_size: 1024
+                num_layers: 4
+                num_heads: 4
+                dropout: 0
+                activation: relu
+                use_layer_norm: false
+                input_models:
+                  obs_mlp:
+                    _target_: protomotions.agents.common.mlp.MLP_WithNorm
+                    _recursive_: false
+                    num_in: ${env.config.humanoid_obs.obs_size}
+                    num_out: ${...transformer_token_size}
+                    config:
+                      mask_key: null
+                      obs_key: self_obs
+                      normalize_obs: true
+                      norm_clamp_value: 5
+                      layers:
+                      - units: ${agent.config.modules.transformer_encoder_widths}
+                        activation: relu
+                        use_layer_norm: false
+                      - units: ${agent.config.modules.transformer_encoder_widths}
+                        activation: relu
+                        use_layer_norm: false
+                  masked_mimic_target_poses: ${agent.config.modules.masked_mimic_target_pose_model}
+                  historical_pose_obs: ${agent.config.modules.historical_pose_obs_model}
+                  motion_text_embeddings: ${agent.config.modules.motion_text_embeddings_for_transformer_model}
+            mu_head: ${agent.config.modules.transformer_vae_output_head}
+            logvar_head: ${agent.config.modules.transformer_vae_output_head}
+    gamma: 0.99
+    tau: 0.95
+    e_clip: 0.2
+    normalize_values: false
+    normalize_advantage: false
+    gradient_clip_val: 50.0
+    clip_critic_loss: true
+    eval_metric_keys:
+    - cartesian_err
+    - gt_err
+    - dv_rew
+    - kb_rew
+    - lr_rew
+    - rv_rew
+    - rav_rew
+    - gr_err
+    - gr_err_degrees
+    - masked_gt_err
+    - masked_gr_err
+    - masked_gr_err_degrees
+    eval_length: null
+    eval_num_episodes: 1
+    training_early_termination:
+      early_terminate_cart_err: null
+      early_terminate_success_rate: null
+    num_steps: 32
+    fail_on_bad_grads: false
+    check_grad_mag: true
+    batch_size: 8192
+    task_reward_w: 1.0
+    num_mini_epochs: 6
+    max_eval_steps: null
+    eval_metrics_every: 200
+    num_games: null
+    manual_save_every: 10
+    max_epochs: ${eval:${training_max_steps}//${ngpu}//${num_envs}//${.num_steps}}
+    expert_model_path: null
+    vae:
+      noise_type: normal
+      latent_dim: 64
+      kld_schedule:
+        init_kld_coeff: 0.0001
+        end_kld_coeff: 0.01
+        start_epoch: 3000
+        end_epoch: 6000
+    extra_inputs:
+      mimic_target_poses: true
+      masked_mimic_target_poses: true
+      masked_mimic_target_bodies_masks: true
+      masked_mimic_target_poses_masks: true
+      motion_text_embeddings: true
+      motion_text_embeddings_mask: true
+      historical_pose_obs: true
+      terrain: true
+    modules:
+      mlp_vae_output_head:
+        _target_: protomotions.agents.common.mlp.MLP
+        _recursive_: false
+        num_in: 512
+        num_out: ${agent.config.vae.latent_dim}
+        config:
+          layers:
+          - units: 256
+            activation: relu
+            use_layer_norm: false
+          - units: 128
+            activation: relu
+            use_layer_norm: false
+      transformer_latent_dim: 512
+      transformer_encoder_widths: 256
+      transformer_vae_output_head:
+        _target_: protomotions.agents.common.mlp.MLP
+        _recursive_: false
+        num_in: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
+        num_out: ${agent.config.vae.latent_dim}
+        config:
+          layers:
+          - units: 256
+            activation: relu
+            use_layer_norm: false
+          - units: 128
+            activation: relu
+            use_layer_norm: false
+      masked_mimic_target_pose_model:
+        _target_: protomotions.agents.common.mlp.MLP_WithNorm
+        _recursive_: false
+        num_in: ${env.config.masked_mimic.masked_mimic_target_pose.num_obs_per_sparse_target_pose}
+        num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
+        config:
+          obs_key: masked_mimic_target_poses
+          mask_key: masked_mimic_target_poses_masks
+          normalize_obs: true
+          norm_clamp_value: 5
+          operations:
+          - type: reshape
+            new_shape:
+            - -1
+            - ${env.config.masked_mimic.masked_mimic_target_pose.num_obs_per_sparse_target_pose}
+          - type: encode
+          - type: reshape
+            new_shape:
+            - batch_size
+            - ${eval:${env.config.masked_mimic.masked_mimic_target_pose.num_future_steps}+1}
+            - ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
+          layers:
+          - units: ${agent.config.modules.transformer_encoder_widths}
+            activation: relu
+            use_layer_norm: false
+          - units: ${agent.config.modules.transformer_encoder_widths}
+            activation: relu
+            use_layer_norm: false
+      historical_pose_obs_model:
+        _target_: protomotions.agents.common.mlp.MLP_WithNorm
+        _recursive_: false
+        num_in: ${eval:${env.config.humanoid_obs.obs_size}+1}
+        num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
+        config:
+          obs_key: historical_pose_obs
+          mask_key: null
+          normalize_obs: true
+          norm_clamp_value: 5
+          operations:
+          - type: reshape
+            new_shape:
+            - -1
+            - ${eval:${env.config.humanoid_obs.obs_size}+1}
+          - type: encode
+          - type: reshape
+            new_shape:
+            - batch_size
+            - ${env.config.masked_mimic.historical_obs.num_historical_conditioned_steps}
+            - ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
+          layers:
+          - units: ${agent.config.modules.transformer_encoder_widths}
+            activation: relu
+            use_layer_norm: false
+          - units: ${agent.config.modules.transformer_encoder_widths}
+            activation: relu
+            use_layer_norm: false
+      motion_text_embeddings_for_transformer_model:
+        _target_: protomotions.agents.common.mlp.MLP_WithNorm
+        _recursive_: false
+        num_in: ${env.config.masked_mimic.motion_text_embeddings.embedding_dim}
+        num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
+        config:
+          obs_key: motion_text_embeddings
+          mask_key: motion_text_embeddings_mask
+          normalize_obs: true
+          norm_clamp_value: 5
+          operations:
+          - type: encode
+          - type: reshape
+            new_shape:
+            - batch_size
+            - 1
+            - ${agent.config.modules.motion_text_embeddings_for_transformer_model.num_out}
+          layers:
+          - units: ${agent.config.modules.transformer_encoder_widths}
+            activation: relu
+            use_layer_norm: false
+          - units: ${agent.config.modules.transformer_encoder_widths}
+            activation: relu
+            use_layer_norm: false
+      mlp_terrain:
+        _target_: protomotions.agents.common.common.Flatten
+        num_in: ${terrain.config.terrain_obs_num_samples}
+        num_out: ${.num_in}
+        config:
+          obs_key: terrain
+          normalize_obs: true
+          norm_clamp_value: 5
+env:
+  _target_: protomotions.envs.mimic.env.Mimic
+  _recursive_: false
+  config:
+    experiment_name: ${experiment_name}
+    num_envs: ${num_envs}
+    headless: ${headless}
+    simulator: ${simulator}
+    max_episode_length: 1000
+    robot: ${robot}
+    humanoid_obs:
+      use_max_coords_obs: true
+      obs_size: ${robot.self_obs_size}
+      local_root_obs: true
+      root_height_obs: true
+      num_historical_steps: 120
+    termination_height: 0.15
+    head_termination_height: 0.3
+    enable_height_termination: false
+    motion_lib: ${motion_lib}
+    motion_manager: ${motion_manager}
+    hybrid_init_prob: 0.0
+    state_init: Data
+    ref_respawn_offset: ${ref_respawn_offset}
+    terrain: ${terrain}
+    sync_motion: ${sync_motion}
+    scenes: null
+    mimic_residual_control: false
+    mimic_early_termination:
+    - mimic_early_termination_key: max_joint_err
+      mimic_early_termination_thresh: 0.5
+      mimic_early_termination_thresh_on_flat: 0.25
+      less_than: false
+    mimic_reward_config:
+      positive_constant: 0
+      relative_kb_pos: false
+      add_rr_to_lr: true
+      rt_ignore_height: true
+      mean_before_exp: true
+      component_weights:
+        gr_rew_w: 0.3
+        lr_rew_w: 0
+        gt_rew_w: 0.5
+        rt_rew_w: 0
+        rv_rew_w: 0
+        rav_rew_w: 0
+        gv_rew_w: 0.1
+        gav_rew_w: 0.1
+        kb_rew_w: 0
+        dv_rew_w: 0.0
+        rh_rew_w: 0.2
+        pow_rew_w: 1.0e-05
+      component_coefficients:
+        gt_rew_c: -100
+        rt_rew_c: -120
+        rv_rew_c: -1
+        rav_rew_c: -0.3
+        gv_rew_c: -0.5
+        gav_rew_c: -0.1
+        kb_rew_c: -10
+        gr_rew_c: -10
+        lr_rew_c: -2
+        dv_rew_c: -0.005
+        rh_rew_c: -100
+        kbf_rew_c: -0.01
+    mimic_phase_obs:
+      enabled: false
+    mimic_target_pose:
+      enabled: true
+      type: max-coords-future-rel
+      with_time: true
+      with_contacts: false
+      num_future_steps: 15
+      num_obs_per_target_pose: ${.base_num_obs_per_target_pose}
+      base_num_obs_per_target_pose: ${eval:${.num_obs_per_joint}*${robot.num_bodies}+1*${.with_time}}
+      num_obs_per_joint: 18
+    masked_mimic:
+      enabled: true
+      masked_mimic_masking:
+        joint_masking:
+          masked_mimic_time_gap_probability: 0.1
+          time_gap_mask_min_steps: 1
+          time_gap_mask_max_steps: ${eval:${env.config.mimic_target_pose.num_future_steps}+1}
+          with_conditioning_time_gap_mask_max_steps: ${eval:${.time_gap_mask_max_steps}*4}
+          with_conditioning_max_gap_probability: 0.2
+          masked_mimic_repeat_mask_probability: 0.98
+          masked_mimic_fixed_conditioning: null
+          force_max_conditioned_bodies_prob: 0.1
+          force_small_num_conditioned_bodies_prob: 0.1
+        target_pose_visible_prob: 0.2
+        motion_text_embeddings_visible_prob: 0.5
+      masked_mimic_target_pose:
+        num_obs_per_sparse_target_pose: ${eval:${.num_obs_per_target_pose}*${eval:${len:${robot.trackable_bodies_subset}}+1}//${robot.num_bodies}+${eval:${len:${robot.trackable_bodies_subset}}+1}*2+2}
+        num_future_steps: 10
+        num_obs_per_joint: 24
+        num_obs_per_target_pose: ${eval:${.num_obs_per_joint}*${robot.num_bodies}}
+      motion_text_embeddings:
+        embedding_dim: 512
+      historical_obs:
+        num_historical_conditioned_steps: 15
+robot:
+  dof_obs_size: 138
+  number_of_actions: 69
+  self_obs_size: ${.self_obs_max_coords_size}
+  self_obs_max_coords_size: 358
+  num_bodies: ${len:${.body_names}}
+  contact_bodies: ${.body_names}
+  body_names:
+  - Pelvis
+  - L_Hip
+  - L_Knee
+  - L_Ankle
+  - L_Toe
+  - R_Hip
+  - R_Knee
+  - R_Ankle
+  - R_Toe
+  - Torso
+  - Spine
+  - Chest
+  - Neck
+  - Head
+  - L_Thorax
+  - L_Shoulder
+  - L_Elbow
+  - L_Wrist
+  - L_Hand
+  - R_Thorax
+  - R_Shoulder
+  - R_Elbow
+  - R_Wrist
+  - R_Hand
+  dof_names:
+  - L_Hip_x
+  - L_Hip_y
+  - L_Hip_z
+  - L_Knee_x
+  - L_Knee_y
+  - L_Knee_z
+  - L_Ankle_x
+  - L_Ankle_y
+  - L_Ankle_z
+  - L_Toe_x
+  - L_Toe_y
+  - L_Toe_z
+  - R_Hip_x
+  - R_Hip_y
+  - R_Hip_z
+  - R_Knee_x
+  - R_Knee_y
+  - R_Knee_z
+  - R_Ankle_x
+  - R_Ankle_y
+  - R_Ankle_z
+  - R_Toe_x
+  - R_Toe_y
+  - R_Toe_z
+  - Torso_x
+  - Torso_y
+  - Torso_z
+  - Spine_x
+  - Spine_y
+  - Spine_z
+  - Chest_x
+  - Chest_y
+  - Chest_z
+  - Neck_x
+  - Neck_y
+  - Neck_z
+  - Head_x
+  - Head_y
+  - Head_z
+  - L_Thorax_x
+  - L_Thorax_y
+  - L_Thorax_z
+  - L_Shoulder_x
+  - L_Shoulder_y
+  - L_Shoulder_z
+  - L_Elbow_x
+  - L_Elbow_y
+  - L_Elbow_z
+  - L_Wrist_x
+  - L_Wrist_y
+  - L_Wrist_z
+  - L_Hand_x
+  - L_Hand_y
+  - L_Hand_z
+  - R_Thorax_x
+  - R_Thorax_y
+  - R_Thorax_z
+  - R_Shoulder_x
+  - R_Shoulder_y
+  - R_Shoulder_z
+  - R_Elbow_x
+  - R_Elbow_y
+  - R_Elbow_z
+  - R_Wrist_x
+  - R_Wrist_y
+  - R_Wrist_z
+  - R_Hand_x
+  - R_Hand_y
+  - R_Hand_z
+  trackable_bodies_subset:
+  - Pelvis
+  - L_Ankle
+  - R_Ankle
+  - L_Hand
+  - R_Hand
+  - Head
+  dof_body_ids:
+  - 1
+  - 2
+  - 3
+  - 4
+  - 5
+  - 6
+  - 7
+  - 8
+  - 9
+  - 10
+  - 11
+  - 12
+  - 13
+  - 14
+  - 15
+  - 16
+  - 17
+  - 18
+  - 19
+  - 20
+  - 21
+  - 22
+  - 23
+  dof_effort_limits: null
+  dof_vel_limits: null
+  dof_armatures: null
+  dof_joint_frictions: null
+  key_bodies:
+  - R_Ankle
+  - L_Ankle
+  - L_Hand
+  - R_Hand
+  non_termination_contact_bodies:
+  - R_Ankle
+  - L_Ankle
+  - R_Toe
+  - L_Toe
+  left_foot_name: L_Ankle
+  right_foot_name: R_Ankle
+  head_body_name: Head
+  init_state: null
+  contact_pairs_multiplier: 16
+  num_key_bodies: ${len:${robot.key_bodies}}
+  mimic_small_marker_bodies: null
+  control:
+    control_type: built_in_pd
+    use_biased_controller: false
+    map_actions_to_pd_range: true
+    stiffness: null
+    damping: null
+    action_scale: 1.0
+    clamp_actions: 1.0
+  asset:
+    collapse_fixed_joints: null
+    replace_cylinder_with_capsule: null
+    flip_visual_attachments: null
+    armature: null
+    thickness: null
+    max_angular_velocity: null
+    max_linear_velocity: null
+    density: null
+    angular_damping: null
+    linear_damping: null
+    disable_gravity: null
+    fix_base_link: null
+    default_dof_drive_mode: 1
+    robot_type: smpl_humanoid
+    asset_root: protomotions/data/assets
+    self_collisions: true
+    filter_ints:
+    - 0
+    - 0
+    - 7
+    - 16
+    - 12
+    - 0
+    - 56
+    - 2
+    - 33
+    - 128
+    - 0
+    - 192
+    - 0
+    - 64
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    asset_file_name: mjcf/smpl_humanoid.xml
+    usd_asset_file_name: usd/smpl_humanoid.usda
+  sim:
+    isaacgym:
+      fps: 60
+      decimation: 2
+      substeps: 2
+    isaaclab:
+      fps: 120
+      decimation: 4
+    genesis:
+      fps: 60
+      decimation: 2
+      substeps: 2
+simulator:
+  _target_: protomotions.simulator.isaaclab.simulator.IsaacLabSimulator
+  _config_target_: protomotions.simulator.isaaclab.config.IsaacLabSimulatorConfig
+  _recursive_: false
+  config:
+    w_last: false
+    headless: ${headless}
+    robot: ${robot}
+    num_envs: ${num_envs}
+    plane:
+      static_friction: 1.0
+      dynamic_friction: 1.0
+      restitution: 0.0
+    sim:
+      fps: ${robot.sim.isaaclab.fps}
+      decimation: ${robot.sim.isaaclab.decimation}
+      physx:
+        num_threads: 4
+        solver_type: 1
+        num_position_iterations: 4
+        num_velocity_iterations: 0
+        contact_offset: 0.02
+        rest_offset: 0.0
+        bounce_threshold_velocity: 0.2
+        max_depenetration_velocity: 10.0
+        default_buffer_size_multiplier: 10.0
+        gpu_found_lost_pairs_capacity: ${eval:2**21}
+        gpu_max_rigid_contact_count: ${eval:2**23}
+        gpu_found_lost_aggregate_pairs_capacity: ${eval:2**25}
+    camera: null
+    record_viewer: false
+    viewer_record_dir: output/recordings/viewer
+    experiment_name: ${experiment_name}
+motion_lib:
+  _target_: protomotions.utils.motion_lib.MotionLib
+  motion_file: ${motion_file}
+  ref_height_adjust: 0.0
+  fix_motion_heights: true
+motion_file: ???
+terrain:
+  _target_: protomotions.envs.base_env.env_utils.terrains.terrain.Terrain
+  config:
+    terrain_composition: curriculum
+    map_length: 20.0
+    map_width: 20.0
+    border_size: 40.0
+    num_levels: 7
+    num_terrains: 7
+    terrain_proportions:
+    - 0.2
+    - 0.1
+    - 0.1
+    - 0.1
+    - 0.05
+    - 0.0
+    - 0.0
+    - 0.45
+    slope_threshold: 0.9
+    num_samples_per_axis: 16
+    sample_width: 1
+    terrain_obs_num_samples: ${eval:${.num_samples_per_axis}**2}
+    horizontal_scale: 0.1
+    vertical_scale: 0.005
+    spacing_between_scenes: 10
+    minimal_humanoid_spacing: 0
+    terrain_path: null
+    load_terrain: false
+    save_terrain: false
+seed: 0
+training_max_steps: 100000000000
+codebase_version: 1.0
+headless: true
+sync_motion: false
+checkpoint: null
+experiment_name: maskedmimic
+base_dir: results
+save_dir: ${base_dir}/${experiment_name}
+num_envs: 2048
+motion_manager:
+  fixed_motion_per_env: false
+  fixed_motion_id: null
+  motion_index_offset: null
+  motion_sampling:
+    init_start_prob: 0.2
+  reset_track:
+    steps_min: 10
+    steps_max: 600
+    grace_period: 5
+ref_respawn_offset: 0.05
+wandb:
+  wandb_project: physical_animation
+  wandb_tags: null
+  wandb_group: null
+  wandb_id: null
+  wandb_entity: null
+  wandb_resume: allow

last.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e57a15d91585951c15917fdfa6c4149a14a411746585d2a4cfaab78561d5139
+size 303850268