Add humanoid_v1 velocity policy: final ckpt, exported policy, configs, eval videos, docs

.gitattributes

@@ -33,3 +33,10 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+exported/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
+videos/diagonal_fwd0.4_lat0.3.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/forward_cmd+y0.5.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sidestep_left_cmd-x0.5.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sidestep_right_cmd+x0.5.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/topspeed_fwd1.0.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/turn_yaw0.5.mp4 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,182 @@
+---
+license: other
+library_name: rsl-rl
+tags:
+  - reinforcement-learning
+  - robotics
+  - humanoid
+  - locomotion
+  - isaac-lab
+---
+
+# Humanoid V1 — Command Axes, Forward Walking, and play.py Fixes
+
+_Investigation notes, 2026-06-02 → 2026-06-03. Task: `ETHRC-humanoidv1-v0`._
+
+This documents two things discovered while trying to get the `humanoid_v1` velocity
+policy to walk **forward** and to record an eval video:
+
+1. A non-obvious **90°-rotated body-axis convention** on this robot that makes the
+   velocity-command axes counter-intuitive (and made the policy appear to "walk backwards").
+2. Four fixes to `scripts/rsl_rl/play.py` required to run playback/export under **rsl-rl ≥ 5.0**.
+
+---
+
+## 1. The command-axis quirk (IMPORTANT)
+
+**This robot's base frame is rotated 90° from the usual locomotion convention.**
+Verified empirically by commanding fixed velocities and watching the playback:
+
+| Command (`base_velocity`) | Robot body direction | Observed motion on screen |
+| --- | --- | --- |
+| `lin_vel_x = +0.5` | body +x | **sidesteps right** |
+| `lin_vel_x = -0.5` | body −x | **sidesteps left** |
+| `lin_vel_y = -0.5` (original cfg) | body −y | **walks backward** |
+| `lin_vel_y = +0.5` | body +y | **walks forward** ✅ |
+
+So, for `humanoid_v1`:
+
+- **`lin_vel_x` = LATERAL (strafe) axis.** `+x` = right, `−x` = left.
+- **`lin_vel_y` = FORE/AFT axis.** **`+y` = FORWARD**, `−y` = backward.
+
+A sidestep (crab) gait looks different from a fore/aft gait from any camera angle, so this
+is a real body-frame property, not a camera artifact. A quantitative check agreed: commanding
+`lin_vel_x = 0.5` produced a mean `root_lin_vel_b[:, 0]` of ~0.355 m/s (the robot does move
+along body-x — that axis is just its lateral direction).
+
+### Why the policy looked like it "walked backwards"
+
+The **original** command config trained the robot toward **`−y` (backward)** with only small
+lateral motion — i.e. it was effectively a *backward-walking* task:
+
+```python
+# ORIGINAL (backward-biased) — velocity_env_cfg.py CommandsCfg.base_velocity
+ranges:       lin_vel_x=(-0.1, 0.1)   lin_vel_y=(-0.8, -0.1)   ang_vel_z=(-0.1, 0.1)
+limit_ranges: lin_vel_x=(-0.3, 0.3)   lin_vel_y=(-1.0,  0.5)   ang_vel_z=(-0.2, 0.2)
+```
+
+`lin_vel_y` was always negative → backward. `lin_vel_x` (lateral) was tiny. So during eval with
+random commands the robot mostly strafed/backpedaled.
+
+### The fix (applied)
+
+`source/.../tasks/locomotion/manager_based/humanoid_v1/velocity_env_cfg.py`,
+`CommandsCfg.base_velocity` now biases **`lin_vel_y` positive (forward)** and keeps
+`lin_vel_x` symmetric/small (lateral):
+
+```python
+# CORRECTED (forward-biased)
+ranges:       lin_vel_x=(-0.2, 0.2)   lin_vel_y=(0.0, 0.5)   ang_vel_z=(-1.0, 1.0)
+limit_ranges: lin_vel_x=(-0.4, 0.4)   lin_vel_y=(-0.3, 1.0)  ang_vel_z=(-1.0, 1.0)
+```
+
+Curriculum note: `mdp.lin_vel_cmd_levels` (the only enabled curriculum term) widens **both**
+`lin_vel_x` and `lin_vel_y` by `±0.1` each time the `track_lin_vel_xy` reward exceeds
+`0.8 × weight`, clamped to `limit_ranges`. It logs `lin_vel_x[1]` as `Curriculum/lin_vel_cmd_levels`.
+With the corrected config, forward speed (`lin_vel_y` upper bound) ramps toward **1.0 m/s** while
+backward is capped at `−0.3` and lateral at `±0.4`.
+
+> **NOTE:** A retrain was **not** performed. The existing checkpoint already walks forward well
+> when commanded `+y` (forward and backward gaits are fairly symmetric, so it generalized despite
+> training mostly on `−y`). The corrected config is left on disk for a future forward-primary retrain.
+
+### Measured capability map (current checkpoint, run `2026-06-02_20-42-09`)
+
+Mean over 300 steps, 4 envs, single fixed commands (recall +y = forward, +x = right, body axes
+rotated 90°). Achieved values are `root_lin_vel_b` (body frame) and `root_ang_vel_w[z]`:
+
+| Test | Commanded | Achieved | Tracking | Verdict |
+| --- | --- | --- | --- | --- |
+| Forward | `+y = 0.5` | ~0.36 m/s | ~71% | ✅ |
+| Backward | `−y` (trained) | in-distribution | — | ✅ (primary trained skill) |
+| Sidestep R / L | `±x = 0.5` | ~0.36 m/s | ~71% | ✅ |
+| Pure turn | yaw `0.50` | yaw 0.34 (drift fwd −0.06 / lat +0.07) | 68% | ✅ turns ~in place |
+| Diagonal | fwd `0.40` + lat `0.30` | fwd 0.33 (82%), lat 0.21 (71%), yaw −0.02 | 70–82% | ✅ combined motion |
+| Top speed | fwd `1.0` | fwd 0.71, no drift | 71% | ✅ stable, undershoots |
+
+**Conclusions:**
+
+- The policy is genuinely **omnidirectional**: forward, backward, lateral (both), turning, and
+  **combined/diagonal** commands (translation + yaw simultaneously) all work, and it stays upright
+  through all of them (tests ran on the training env cfg, i.e. with disturbances on).
+- **Uniform ~70% velocity tracking** (range 68–82%) — it undershoots consistently. Practical rule:
+  **command ≈ 1.4× the target speed** to actually hit it.
+- **Top forward speed ≈ 0.7 m/s** at full command; it doesn't reach 1.0 but stays stable trying.
+- A retrain on the corrected forward-biased config (curriculum → 1.0 m/s) would tighten tracking
+  and raise top speed, if ever desired.
+
+Reference clips in `.../videos/play/`: `rl-video-turn0p5.mp4`, `rl-video-diag_fwd0p4_lat0p3.mp4`,
+`rl-video-topspeed_fwd1p0.mp4` (plus the cardinal-direction clips listed in §2).
+
+---
+
+## 2. How to play / record a forward-walking eval
+
+The robot's forward direction is `+lin_vel_y`, so command that explicitly. Example (headless + video):
+
+```bash
+cd /home/darius/mark1/rc_humanoid_rl_lab
+CKPT=$(ls -t logs/rsl_rl/humanoid_v1_locomotion/<RUN_DIR>/model_*.pt | head -1)
+
+/home/darius/rayane/IsaacLab/isaaclab.sh -p scripts/rsl_rl/play.py \
+  --task=ETHRC-humanoidv1-v0 --num_envs=4 --headless --video --video_length=300 \
+  --checkpoint "$CKPT" \
+  env.commands.base_velocity.ranges.lin_vel_x="[0.0, 0.0]" \
+  env.commands.base_velocity.ranges.lin_vel_y="[0.5, 0.5]" \
+  env.commands.base_velocity.ranges.ang_vel_z="[0.0, 0.0]" \
+  env.commands.base_velocity.rel_standing_envs=0.0
+```
+
+- Video lands in `logs/rsl_rl/humanoid_v1_locomotion/<RUN_DIR>/videos/play/rl-video-step-0.mp4`.
+- Exported policy (`policy.pt`, `policy.onnx`) lands in the sibling `exported/` dir.
+- Drop the Hydra overrides to use the (random) curriculum command ranges instead.
+- ⚠️ Each playback launches another Isaac Sim process; it competes with any running trainers on the GPU.
+
+### Reference eval clips (run 2026-06-02_20-42-09, lateral/backward policy)
+
+Under `.../videos/play/`:
+
+| File | Command | Result |
+| --- | --- | --- |
+| `rl-video-cmdPLUSy0p5.mp4` | `lin_vel_y=+0.5` | **forward** ✅ |
+| `rl-video-cmdPLUSx0p5-backward.mp4` | `lin_vel_x=+0.5` | sidestep right |
+| `rl-video-cmdMINUSx0p5.mp4` | `lin_vel_x=-0.5` | sidestep left |
+| `rl-video-randomcmd-lateralpolicy.mp4` | original random | backward/strafe |
+
+---
+
+## 3. play.py fixes for rsl-rl ≥ 5.0
+
+`scripts/rsl_rl/play.py` failed under the installed **rsl-rl 5.0.1** with a cascade of errors
+that `train.py` did not hit (train.py already handled them). Four fixes were applied:
+
+1. **Missing config migration** → `MLPModel.__init__() got an unexpected keyword argument 'stochastic'`.
+   `train.py` calls `handle_deprecated_rsl_rl_cfg(...)` to migrate the legacy `stochastic` actor
+   field to `distribution_cfg`; `play.py` did not. Added the call (and `from importlib import metadata`).
+
+2. **Renamed model attribute** → `'PPO' object has no attribute 'policy' / 'actor_critic'`.
+   rsl-rl 5.x splits the model into `alg.actor` / `alg.critic`. Updated the lookup accordingly.
+
+3. **Incompatible exporter** → `ValueError: Policy does not have an actor/student module` /
+   `'PPO' object has no attribute 'is_recurrent'`. The legacy `isaaclab_rl` `_TorchPolicyExporter`
+   expects a single combined `ActorCritic` module that no longer exists. Switched to the runner's
+   native `runner.export_policy_to_jit(...)` / `export_policy_to_onnx(...)` when available, keeping
+   the old path as a fallback for older rsl-rl.
+
+4. **`policy_nn` scoping** → `UnboundLocalError: ... 'policy_nn'`. After refactor (3), the rollout's
+   `policy_nn.reset(dones)` was no longer always defined. Changed to `policy.reset(dones)` (the
+   inference policy from `get_inference_policy`, always defined; rsl-rl 5.x `MLPModel` has `.reset`).
+
+These are environment/version fixes and apply to **any** playback under rsl-rl 5.x, independent of
+the command-axis issue above.
+
+---
+
+## Files changed by this investigation
+
+- `scripts/rsl_rl/play.py` — the four rsl-rl 5.x fixes (§3).
+- `source/rc_humanoid_rl_lab/rc_humanoid_rl_lab/tasks/locomotion/manager_based/humanoid_v1/velocity_env_cfg.py`
+  — `CommandsCfg.base_velocity` forward-biased + an inline comment documenting the 90° axis quirk (§1).
+
+_(Other modified files in `git status` — `train.py`, `rsl_rl_ppo_cfg.py`, `URDF_2.urdf`, etc. —
+predate this work and were not touched here.)_

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params/agent.yaml

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+seed: 42
+device: cuda:0
+num_steps_per_env: 24
+max_iterations: 4000
+empirical_normalization: {}
+obs_groups:
+  actor:
+  - policy
+  critic:
+  - critic
+clip_actions: null
+check_for_nan: true
+save_interval: 100
+experiment_name: humanoid_v1_locomotion
+run_name: ''
+logger: tensorboard
+neptune_project: isaaclab
+wandb_project: isaaclab
+resume: false
+load_run: .*
+load_checkpoint: model_.*.pt
+class_name: OnPolicyRunner
+actor:
+  class_name: MLPModel
+  hidden_dims:
+  - 512
+  - 256
+  - 128
+  activation: elu
+  obs_normalization: false
+  distribution_cfg:
+    class_name: GaussianDistribution
+    init_std: 1.0
+    std_type: scalar
+critic:
+  class_name: MLPModel
+  hidden_dims:
+  - 512
+  - 256
+  - 128
+  activation: elu
+  obs_normalization: false
+  distribution_cfg: null
+algorithm:
+  class_name: PPO
+  num_learning_epochs: 5
+  num_mini_batches: 4
+  learning_rate: 0.001
+  schedule: adaptive
+  gamma: 0.99
+  lam: 0.95
+  entropy_coef: 0.01
+  desired_kl: 0.01
+  max_grad_norm: 1.0
+  optimizer: adam
+  value_loss_coef: 1.0
+  use_clipped_value_loss: true
+  clip_param: 0.2
+  normalize_advantage_per_mini_batch: false
+  share_cnn_encoders: false
+  rnd_cfg: null
+  symmetry_cfg: null
+policy: {}

params/env.yaml

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+viewer:
+  eye: !!python/tuple
+  - 7.5
+  - 7.5
+  - 7.5
+  lookat: !!python/tuple
+  - 0.0
+  - 0.0
+  - 0.0
+  cam_prim_path: /OmniverseKit_Persp
+  resolution: !!python/tuple
+  - 1280
+  - 720
+  origin_type: world
+  env_index: 0
+  asset_name: null
+  body_name: null
+sim:
+  physics_prim_path: /physicsScene
+  device: cuda:0
+  dt: 0.005
+  render_interval: 4
+  gravity: !!python/tuple
+  - 0.0
+  - 0.0
+  - -9.81
+  enable_scene_query_support: false
+  use_fabric: true
+  physx:
+    solver_type: 1
+    solve_articulation_contact_last: false
+    min_position_iteration_count: 1
+    max_position_iteration_count: 255
+    min_velocity_iteration_count: 0
+    max_velocity_iteration_count: 255
+    enable_ccd: false
+    enable_stabilization: false
+    enable_external_forces_every_iteration: false
+    enable_enhanced_determinism: false
+    bounce_threshold_velocity: 0.5
+    friction_offset_threshold: 0.04
+    friction_correlation_distance: 0.025
+    gpu_max_rigid_contact_count: 8388608
+    gpu_max_rigid_patch_count: 327680
+    gpu_found_lost_pairs_capacity: 2097152
+    gpu_found_lost_aggregate_pairs_capacity: 33554432
+    gpu_total_aggregate_pairs_capacity: 2097152
+    gpu_collision_stack_size: 67108864
+    gpu_heap_capacity: 67108864
+    gpu_temp_buffer_capacity: 16777216
+    gpu_max_num_partitions: 8
+    gpu_max_soft_body_contacts: 1048576
+    gpu_max_particle_contacts: 1048576
+  physics_material:
+    func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
+    static_friction: 1.0
+    dynamic_friction: 1.0
+    restitution: 0.0
+    friction_combine_mode: multiply
+    restitution_combine_mode: multiply
+    compliant_contact_stiffness: 0.0
+    compliant_contact_damping: 0.0
+  render:
+    enable_translucency: null
+    enable_reflections: null
+    enable_global_illumination: null
+    antialiasing_mode: null
+    enable_dlssg: null
+    enable_dl_denoiser: null
+    dlss_mode: null
+    enable_direct_lighting: null
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+    enable_shadows: null
+    enable_ambient_occlusion: null
+    dome_light_upper_lower_strategy: null
+    carb_settings: null
+    rendering_mode: null
+  create_stage_in_memory: false
+  logging_level: WARNING
+  save_logs_to_file: true
+  log_dir: null
+ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
+seed: 42
+decimation: 4
+scene:
+  num_envs: 4096
+  env_spacing: 2.5
+  lazy_sensor_update: true
+  replicate_physics: true
+  filter_collisions: true
+  clone_in_fabric: false
+  robot:
+    class_type: isaaclab.assets.articulation.articulation:Articulation
+    prim_path: /World/envs/env_.*/Robot
+    spawn:
+      asset_path: /home/darius/mark1/rc_humanoid_rl_lab/source/rc_humanoid_rl_lab/rc_humanoid_rl_lab/assets/URDF_2_description/urdf/URDF_2.urdf
+      usd_dir: null
+      usd_file_name: null
+      force_usd_conversion: false
+      make_instanceable: true
+      fix_base: false
+      root_link_name: null
+      link_density: 0.0
+      merge_fixed_joints: false
+      convert_mimic_joints_to_normal_joints: false
+      joint_drive:
+        drive_type: force
+        target_type: position
+        gains:
+          stiffness: 150.0
+          damping: 5.0
+      collider_type: convex_hull
+      self_collision: false
+      replace_cylinders_with_capsules: false
+      collision_from_visuals: false
+      func: isaaclab.sim.spawners.from_files.from_files:spawn_from_urdf
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      mass_props: null
+      deformable_props: null
+      rigid_props:
+        rigid_body_enabled: null
+        kinematic_enabled: null
+        disable_gravity: false
+        linear_damping: 0.0
+        angular_damping: 0.0
+        max_linear_velocity: 1000.0
+        max_angular_velocity: 1000.0
+        max_depenetration_velocity: 1.0
+        max_contact_impulse: null
+        enable_gyroscopic_forces: null
+        retain_accelerations: false
+        solver_position_iteration_count: null
+        solver_velocity_iteration_count: null
+        sleep_threshold: null
+        stabilization_threshold: null
+      collision_props: null
+      activate_contact_sensors: true
+      scale: null
+      articulation_props:
+        articulation_enabled: null
+        enabled_self_collisions: false
+        solver_position_iteration_count: 4
+        solver_velocity_iteration_count: 4
+        sleep_threshold: null
+        stabilization_threshold: null
+        fix_root_link: null
+      fixed_tendons_props: null
+      spatial_tendons_props: null
+      joint_drive_props: null
+      visual_material_path: material
+      visual_material: null
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 1.1
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      joint_pos:
+        hip_central_abduction: 0.0
+        waist_upperbody_yaw: 0.0
+        leg_flexion_.*: 0.0
+        leg_abduction_.*: 0.0
+        hip_yaw_.*: 0.0
+        knee_.*: 0.0
+        foot_pitch_.*: 0.0
+        foot_roll_.*: 0.0
+        shoulder_flexion_.*: 0.0
+        shoulder_abduction_.*: 0.0
+        shoulder_rotation_.*: 0.0
+        elbow_flexion_.*: 0.0
+        wrist_rotation_.*: 0.0
+        neck_yaw: 0.0
+      joint_vel:
+        .*: 0.0
+    collision_group: 0
+    debug_vis: false
+    articulation_root_prim_path: null
+    soft_joint_pos_limit_factor: 0.9
+    actuators:
+      legs_waist:
+        class_type: isaaclab.actuators.actuator_pd:DCMotor
+        joint_names_expr:
+        - hip_central_abduction
+        - waist_upperbody_yaw
+        - leg_flexion_.*
+        - leg_abduction_.*
+        - hip_yaw_.*
+        - knee_.*
+        effort_limit: 128.0
+        velocity_limit: 14.66
+        effort_limit_sim: null
+        velocity_limit_sim: null
+        stiffness: 150.0
+        damping: 3.0
+        armature: 0.01
+        friction: null
+        dynamic_friction: null
+        viscous_friction: null
+        saturation_effort: 128.0
+      shoulders:
+        class_type: isaaclab.actuators.actuator_pd:DCMotor
+        joint_names_expr:
+        - shoulder_flexion_.*
+        - shoulder_abduction_.*
+        effort_limit: 80.0
+        velocity_limit: 18.0
+        effort_limit_sim: null
+        velocity_limit_sim: null
+        stiffness: 100.0
+        damping: 2.0
+        armature: 0.01
+        friction: null
+        dynamic_friction: null
+        viscous_friction: null
+        saturation_effort: 80.0
+      arms_neck:
+        class_type: isaaclab.actuators.actuator_pd:DCMotor
+        joint_names_expr:
+        - shoulder_rotation_.*
+        - elbow_flexion_.*
+        - wrist_rotation_.*
+        - neck_yaw
+        effort_limit: 40.0
+        velocity_limit: 20.0
+        effort_limit_sim: null
+        velocity_limit_sim: null
+        stiffness: 50.0
+        damping: 1.0
+        armature: 0.01
+        friction: null
+        dynamic_friction: null
+        viscous_friction: null
+        saturation_effort: 40.0
+      ankles:
+        class_type: isaaclab.actuators.actuator_pd:DCMotor
+        joint_names_expr:
+        - foot_pitch_.*
+        - foot_roll_.*
+        effort_limit: 40.0
+        velocity_limit: 15.0
+        effort_limit_sim: null
+        velocity_limit_sim: null
+        stiffness: 40.0
+        damping: 1.0
+        armature: 0.01
+        friction: null
+        dynamic_friction: null
+        viscous_friction: null
+        saturation_effort: 40.0
+    actuator_value_resolution_debug_print: false
+  terrain:
+    class_type: isaaclab.terrains.terrain_importer:TerrainImporter
+    collision_group: -1
+    prim_path: /World/ground
+    num_envs: 4096
+    terrain_type: plane
+    terrain_generator:
+      class_type: isaaclab.terrains.terrain_generator:TerrainGenerator
+      seed: null
+      curriculum: false
+      size: !!python/tuple
+      - 8.0
+      - 8.0
+      border_width: 20.0
+      border_height: 1.0
+      num_rows: 10
+      num_cols: 20
+      color_scheme: none
+      horizontal_scale: 0.1
+      vertical_scale: 0.005
+      slope_threshold: 0.75
+      sub_terrains:
+        pyramid_stairs:
+          function: isaaclab.terrains.trimesh.mesh_terrains:pyramid_stairs_terrain
+          proportion: 0.2
+          size: !!python/tuple
+          - 10.0
+          - 10.0
+          flat_patch_sampling: null
+          border_width: 1.0
+          step_height_range: !!python/tuple
+          - 0.05
+          - 0.23
+          step_width: 0.3
+          platform_width: 3.0
+          holes: false
+        pyramid_stairs_inv:
+          function: isaaclab.terrains.trimesh.mesh_terrains:inverted_pyramid_stairs_terrain
+          proportion: 0.2
+          size: !!python/tuple
+          - 10.0
+          - 10.0
+          flat_patch_sampling: null
+          border_width: 1.0
+          step_height_range: !!python/tuple
+          - 0.05
+          - 0.23
+          step_width: 0.3
+          platform_width: 3.0
+          holes: false
+        boxes:
+          function: isaaclab.terrains.trimesh.mesh_terrains:random_grid_terrain
+          proportion: 0.2
+          size: !!python/tuple
+          - 10.0
+          - 10.0
+          flat_patch_sampling: null
+          grid_width: 0.45
+          grid_height_range: !!python/tuple
+          - 0.05
+          - 0.2
+          platform_width: 2.0
+          holes: false
+        random_rough:
+          function: isaaclab.terrains.height_field.hf_terrains:random_uniform_terrain
+          proportion: 0.2
+          size: !!python/tuple
+          - 10.0
+          - 10.0
+          flat_patch_sampling: null
+          border_width: 0.25
+          horizontal_scale: 0.1
+          vertical_scale: 0.005
+          slope_threshold: null
+          noise_range: !!python/tuple
+          - 0.02
+          - 0.1
+          noise_step: 0.02
+          downsampled_scale: null
+        hf_pyramid_slope:
+          function: isaaclab.terrains.height_field.hf_terrains:pyramid_sloped_terrain
+          proportion: 0.1
+          size: !!python/tuple
+          - 10.0
+          - 10.0
+          flat_patch_sampling: null
+          border_width: 0.25
+          horizontal_scale: 0.1
+          vertical_scale: 0.005
+          slope_threshold: null
+          slope_range: !!python/tuple
+          - 0.0
+          - 0.4
+          platform_width: 2.0
+          inverted: false
+        hf_pyramid_slope_inv:
+          function: isaaclab.terrains.height_field.hf_terrains:pyramid_sloped_terrain
+          proportion: 0.1
+          size: !!python/tuple
+          - 10.0
+          - 10.0
+          flat_patch_sampling: null
+          border_width: 0.25
+          horizontal_scale: 0.1
+          vertical_scale: 0.005
+          slope_threshold: null
+          slope_range: !!python/tuple
+          - 0.0
+          - 0.4
+          platform_width: 2.0
+          inverted: true
+      difficulty_range: !!python/tuple
+      - 0.0
+      - 1.0
+      use_cache: false
+      cache_dir: /tmp/isaaclab/terrains
+    usd_path: null
+    env_spacing: 2.5
+    use_terrain_origins: true
+    visual_material:
+      func: isaaclab.sim.spawners.materials.visual_materials:spawn_from_mdl_file
+      mdl_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl
+      project_uvw: true
+      albedo_brightness: null
+      texture_scale: !!python/tuple
+      - 0.25
+      - 0.25
+    physics_material:
+      func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
+      static_friction: 1.0
+      dynamic_friction: 1.0
+      restitution: 0.0
+      friction_combine_mode: multiply
+      restitution_combine_mode: multiply
+      compliant_contact_stiffness: 0.0
+      compliant_contact_damping: 0.0
+    max_init_terrain_level: 5
+    debug_vis: false
+  height_scanner: null
+  contact_forces:
+    class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
+    prim_path: /World/envs/env_.*/Robot/.*
+    update_period: 0.005
+    history_length: 3
+    debug_vis: false
+    track_pose: false
+    track_contact_points: false
+    track_friction_forces: false
+    max_contact_data_count_per_prim: 4
+    track_air_time: true
+    force_threshold: 1.0
+    filter_prim_paths_expr: []
+    visualizer_cfg:
+      prim_path: /Visuals/ContactSensor
+      markers:
+        contact:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 1.0
+            - 0.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.02
+        no_contact:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
+          visible: false
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 0.0
+            - 1.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.02
+  sky_light:
+    class_type: null
+    prim_path: /World/skyLight
+    spawn:
+      func: isaaclab.sim.spawners.lights.lights:spawn_light
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      prim_type: DomeLight
+      color: !!python/tuple
+      - 1.0
+      - 1.0
+      - 1.0
+      enable_color_temperature: false
+      color_temperature: 6500.0
+      normalize: false
+      exposure: 0.0
+      intensity: 750.0
+      texture_file: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Materials/Textures/Skies/PolyHaven/kloofendal_43d_clear_puresky_4k.hdr
+      texture_format: automatic
+      visible_in_primary_ray: true
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    collision_group: 0
+    debug_vis: false
+recorders:
+  dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
+  dataset_export_dir_path: /tmp/isaaclab/logs
+  dataset_filename: dataset
+  dataset_export_mode:
+    _value_: 1
+    _name_: EXPORT_ALL
+    _sort_order_: 1
+  export_in_record_pre_reset: true
+  export_in_close: false
+observations:
+  policy:
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: true
+    history_length: null
+    flatten_history_dim: true
+    base_ang_vel:
+      func: isaaclab.envs.mdp.observations:base_ang_vel
+      params: {}
+      modifiers: null
+      noise:
+        func: isaaclab.utils.noise.noise_model:uniform_noise
+        operation: add
+        n_min: -0.2
+        n_max: 0.2
+      clip: null
+      scale: 0.2
+      history_length: 0
+      flatten_history_dim: true
+    projected_gravity:
+      func: isaaclab.envs.mdp.observations:projected_gravity
+      params: {}
+      modifiers: null
+      noise:
+        func: isaaclab.utils.noise.noise_model:uniform_noise
+        operation: add
+        n_min: -0.05
+        n_max: 0.05
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    velocity_commands:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: base_velocity
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    joint_pos_rel:
+      func: isaaclab.envs.mdp.observations:joint_pos_rel
+      params: {}
+      modifiers: null
+      noise:
+        func: isaaclab.utils.noise.noise_model:uniform_noise
+        operation: add
+        n_min: -0.01
+        n_max: 0.01
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    joint_vel_rel:
+      func: isaaclab.envs.mdp.observations:joint_vel_rel
+      params: {}
+      modifiers: null
+      noise:
+        func: isaaclab.utils.noise.noise_model:uniform_noise
+        operation: add
+        n_min: -1.5
+        n_max: 1.5
+      clip: null
+      scale: 0.05
+      history_length: 0
+      flatten_history_dim: true
+    last_action:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    gait_phase:
+      func: rc_humanoid_rl_lab.tasks.locomotion.mdp.observations:gait_phase
+      params:
+        period: 0.6
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+  critic:
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    base_lin_vel:
+      func: isaaclab.envs.mdp.observations:base_lin_vel
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    base_ang_vel:
+      func: isaaclab.envs.mdp.observations:base_ang_vel
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: 0.2
+      history_length: 0
+      flatten_history_dim: true
+    projected_gravity:
+      func: isaaclab.envs.mdp.observations:projected_gravity
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    velocity_commands:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: base_velocity
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    joint_pos_rel:
+      func: isaaclab.envs.mdp.observations:joint_pos_rel
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    joint_vel_rel:
+      func: isaaclab.envs.mdp.observations:joint_vel_rel
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: 0.05
+      history_length: 0
+      flatten_history_dim: true
+    joint_effort:
+      func: isaaclab.envs.mdp.observations:joint_effort
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: 0.01
+      history_length: 0
+      flatten_history_dim: true
+    last_action:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    gait_phase:
+      func: rc_humanoid_rl_lab.tasks.locomotion.mdp.observations:gait_phase
+      params:
+        period: 0.6
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+actions:
+  joint_pos:
+    class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
+    asset_name: robot
+    debug_vis: false
+    clip: null
+    joint_names:
+    - hip_central_abduction
+    - waist_upperbody_yaw
+    - leg_flexion_.*
+    - leg_abduction_.*
+    - hip_yaw_.*
+    - knee_.*
+    - foot_pitch_.*
+    - foot_roll_.*
+    - shoulder_flexion_.*
+    - shoulder_abduction_.*
+    - shoulder_rotation_.*
+    - elbow_flexion_.*
+    - wrist_rotation_.*
+    - neck_yaw
+    scale: 0.25
+    offset: 0.0
+    preserve_order: false
+    use_default_offset: true
+events:
+  physics_material:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_material
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      static_friction_range: !!python/tuple
+      - 0.3
+      - 1.0
+      dynamic_friction_range: !!python/tuple
+      - 0.3
+      - 1.0
+      restitution_range: !!python/tuple
+      - 0.0
+      - 0.0
+      num_buckets: 64
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  add_base_mass:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_mass
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: base_link
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      mass_distribution_params: !!python/tuple
+      - -1.0
+      - 3.0
+      operation: add
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  base_external_force_torque:
+    func: isaaclab.envs.mdp.events:apply_external_force_torque
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: base_link
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      force_range: !!python/tuple
+      - 0.0
+      - 0.0
+      torque_range: !!python/tuple
+      - -0.0
+      - 0.0
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  reset_base:
+    func: isaaclab.envs.mdp.events:reset_root_state_uniform
+    params:
+      pose_range:
+        x: !!python/tuple
+        - -0.5
+        - 0.5
+        y: !!python/tuple
+        - -0.5
+        - 0.5
+        yaw: !!python/tuple
+        - -3.14
+        - 3.14
+      velocity_range:
+        x: !!python/tuple
+        - 0.0
+        - 0.0
+        y: !!python/tuple
+        - 0.0
+        - 0.0
+        z: !!python/tuple
+        - 0.0
+        - 0.0
+        roll: !!python/tuple
+        - 0.0
+        - 0.0
+        pitch: !!python/tuple
+        - 0.0
+        - 0.0
+        yaw: !!python/tuple
+        - 0.0
+        - 0.0
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  reset_robot_joints:
+    func: isaaclab.envs.mdp.events:reset_joints_by_scale
+    params:
+      position_range: !!python/tuple
+      - 1.0
+      - 1.0
+      velocity_range: !!python/tuple
+      - -1.0
+      - 1.0
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  push_robot:
+    func: isaaclab.envs.mdp.events:push_by_setting_velocity
+    params:
+      velocity_range:
+        x: !!python/tuple
+        - -0.5
+        - 0.5
+        y: !!python/tuple
+        - -0.5
+        - 0.5
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 5.0
+    - 5.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+rerender_on_reset: false
+num_rerenders_on_reset: 0
+wait_for_textures: true
+xr: null
+teleop_devices:
+  devices: {}
+export_io_descriptors: false
+log_dir: /home/darius/mark1/rc_humanoid_rl_lab/logs/rsl_rl/humanoid_v1_locomotion/2026-06-02_20-42-09
+is_finite_horizon: false
+episode_length_s: 20.0
+rewards:
+  track_lin_vel_xy:
+    func: isaaclab_tasks.manager_based.locomotion.velocity.mdp.rewards:track_lin_vel_xy_yaw_frame_exp
+    params:
+      command_name: base_velocity
+      std: 0.5
+    weight: 1.0
+  track_ang_vel_z:
+    func: isaaclab.envs.mdp.rewards:track_ang_vel_z_exp
+    params:
+      command_name: base_velocity
+      std: 0.5
+    weight: 0.5
+  alive:
+    func: isaaclab.envs.mdp.rewards:is_alive
+    params: {}
+    weight: 0.15
+  base_linear_velocity:
+    func: isaaclab.envs.mdp.rewards:lin_vel_z_l2
+    params: {}
+    weight: -2.0
+  base_angular_velocity:
+    func: isaaclab.envs.mdp.rewards:ang_vel_xy_l2
+    params: {}
+    weight: -0.5
+  joint_acc:
+    func: isaaclab.envs.mdp.rewards:joint_acc_l2
+    params: {}
+    weight: -2.5e-07
+  action_rate:
+    func: isaaclab.envs.mdp.rewards:action_rate_l2
+    params: {}
+    weight: -0.05
+  dof_pos_limits:
+    func: isaaclab.envs.mdp.rewards:joint_pos_limits
+    params: {}
+    weight: -5.0
+  energy:
+    func: rc_humanoid_rl_lab.tasks.locomotion.mdp.rewards:energy
+    params: {}
+    weight: -2.0e-05
+  joint_deviation_arms:
+    func: isaaclab.envs.mdp.rewards:joint_deviation_l1
+    params:
+      asset_cfg:
+        name: robot
+        joint_names:
+        - shoulder_flexion_.*
+        - shoulder_abduction_.*
+        - shoulder_rotation_.*
+        - elbow_flexion_.*
+        - wrist_rotation_.*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -1.0
+  joint_deviation_waist:
+    func: isaaclab.envs.mdp.rewards:joint_deviation_l1
+    params:
+      asset_cfg:
+        name: robot
+        joint_names:
+        - hip_central_abduction
+        - waist_upperbody_yaw
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -1.0
+  joint_deviation_hips:
+    func: isaaclab.envs.mdp.rewards:joint_deviation_l1
+    params:
+      asset_cfg:
+        name: robot
+        joint_names:
+        - leg_abduction_.*
+        - hip_yaw_.*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -1.0
+  joint_deviation_neck:
+    func: isaaclab.envs.mdp.rewards:joint_deviation_l1
+    params:
+      asset_cfg:
+        name: robot
+        joint_names:
+        - neck_yaw
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -1.0
+  flat_orientation_l2:
+    func: isaaclab.envs.mdp.rewards:flat_orientation_l2
+    params: {}
+    weight: -1.0
+  base_height:
+    func: isaaclab.envs.mdp.rewards:base_height_l2
+    params:
+      target_height: 1.05
+    weight: -10.0
+  gait:
+    func: rc_humanoid_rl_lab.tasks.locomotion.mdp.rewards:feet_gait
+    params:
+      period: 0.6
+      offset:
+      - 0.0
+      - 0.5
+      threshold: 0.55
+      sensor_cfg:
+        name: contact_forces
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: foot_.*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: 0.5
+  feet_slide:
+    func: isaaclab_tasks.manager_based.locomotion.velocity.mdp.rewards:feet_slide
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: foot_.*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      sensor_cfg:
+        name: contact_forces
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: foot_.*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -0.2
+  feet_clearance:
+    func: rc_humanoid_rl_lab.tasks.locomotion.mdp.rewards:foot_clearance_reward
+    params:
+      std: 0.05
+      tanh_mult: 2.0
+      target_height: 0.15
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: foot_.*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: 20.0
+  feet_contact_forces:
+    func: isaaclab.envs.mdp.rewards:contact_forces
+    params:
+      threshold: 500
+      sensor_cfg:
+        name: contact_forces
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: foot_.*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -0.0002
+  undesired_contacts:
+    func: isaaclab.envs.mdp.rewards:undesired_contacts
+    params:
+      threshold: 1
+      sensor_cfg:
+        name: contact_forces
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names:
+        - (?!.*foot_.*).*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -1.0
+terminations:
+  time_out:
+    func: isaaclab.envs.mdp.terminations:time_out
+    params: {}
+    time_out: true
+  base_height:
+    func: isaaclab.envs.mdp.terminations:root_height_below_minimum
+    params:
+      minimum_height: 0.3
+    time_out: false
+  base_contact:
+    func: isaaclab.envs.mdp.terminations:illegal_contact
+    params:
+      sensor_cfg:
+        name: contact_forces
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names:
+        - base_link
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      threshold: 1.0
+    time_out: false
+curriculum:
+  terrain_levels: null
+  lin_vel_cmd_levels:
+    func: rc_humanoid_rl_lab.tasks.locomotion.mdp.curriculums:lin_vel_cmd_levels
+    params: {}
+commands:
+  base_velocity:
+    class_type: isaaclab.envs.mdp.commands.velocity_command:UniformVelocityCommand
+    resampling_time_range: !!python/tuple
+    - 10.0
+    - 10.0
+    debug_vis: true
+    asset_name: robot
+    heading_command: false
+    heading_control_stiffness: 1.0
+    rel_standing_envs: 0.02
+    rel_heading_envs: 1.0
+    ranges:
+      lin_vel_x: !!python/tuple
+      - -0.1
+      - 0.1
+      lin_vel_y: !!python/tuple
+      - -0.8
+      - -0.1
+      ang_vel_z: !!python/tuple
+      - -0.1
+      - 0.1
+      heading: null
+    goal_vel_visualizer_cfg:
+      prim_path: /Visuals/Command/velocity_goal
+      markers:
+        arrow:
+          func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          deformable_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          scale: !!python/tuple
+          - 0.5
+          - 0.5
+          - 0.5
+          articulation_props: null
+          fixed_tendons_props: null
+          spatial_tendons_props: null
+          joint_drive_props: null
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 0.0
+            - 1.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/arrow_x.usd
+          variants: null
+    current_vel_visualizer_cfg:
+      prim_path: /Visuals/Command/velocity_current
+      markers:
+        arrow:
+          func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          deformable_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          scale: !!python/tuple
+          - 0.5
+          - 0.5
+          - 0.5
+          articulation_props: null
+          fixed_tendons_props: null
+          spatial_tendons_props: null
+          joint_drive_props: null
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 1.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/arrow_x.usd
+          variants: null
+    limit_ranges:
+      lin_vel_x: !!python/tuple
+      - -0.3
+      - 0.3
+      lin_vel_y: !!python/tuple
+      - -1.0
+      - 0.5
+      ang_vel_z: !!python/tuple
+      - -0.2
+      - 0.2
+      heading: null

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