dropbear-locomotion / evaluation /cardinal_0.20_strict_128.json
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{
"actor_base_lin_vel_feedback": true,
"backward_speed_command_mps": -0.2,
"episodes": 128,
"fall_rate": 0.0,
"foot_clearance_body_names": [
"LL_skateboard_bearing_left_2",
"RL_skateboard_bearing_left_2"
],
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"gait_period_s": 0.55,
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"mean_episode_length": 1000.0,
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{
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},
{
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},
{
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},
{
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"name": "right"
}
],
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"pose_height_body_names": null,
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"pose_sequence": false,
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"pushes_disabled": true,
"reciprocal_shoulder_action_projection": false,
"reset_joint_position_range": [
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1.0
],
"reset_joint_velocity_range": [
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],
"reset_policy_joints_only": true,
"shoulder_counterweight_action_scale": null,
"timeout_rate": 1.0,
"warmup_episodes_per_env": 0,
"yaw_rate_command_rad_s": 0.0
}