{
  "precision": {
    "cuda_matmul_allow_tf32": false,
    "cudnn_allow_tf32": false
  },
  "rewards": {
    "tracking_anchor_pos": {
      "func": "dry_rewards.tracking_anchor_pos_terrain",
      "params": {
        "command_name": "motion",
        "std": 0.3,
        "std_z": 0.45
      },
      "weight": 0.5
    },
    "tracking_anchor_ori": {
      "func": "gear_sonic.envs.manager_env.mdp:tracking_anchor_ori_error",
      "params": {
        "command_name": "motion",
        "std": 0.4
      },
      "weight": 0.5
    },
    "tracking_relative_body_pos": {
      "func": "gear_sonic.envs.manager_env.mdp:tracking_relative_body_pos_error",
      "params": {
        "command_name": "motion",
        "std": 0.3
      },
      "weight": 1.0
    },
    "tracking_relative_body_ori": {
      "func": "gear_sonic.envs.manager_env.mdp:tracking_relative_body_ori_error",
      "params": {
        "command_name": "motion",
        "std": 0.4
      },
      "weight": 1.0
    },
    "tracking_body_linvel": {
      "func": "gear_sonic.envs.manager_env.mdp:tracking_body_linvel_error",
      "params": {
        "command_name": "motion",
        "std": 1.5
      },
      "weight": 0.75
    },
    "tracking_body_angvel": {
      "func": "gear_sonic.envs.manager_env.mdp:tracking_body_angvel_error",
      "params": {
        "command_name": "motion",
        "std": 3.14
      },
      "weight": 0.75
    },
    "action_rate_l2": {
      "func": "gear_sonic.envs.manager_env.mdp:action_rate_l2",
      "params": {},
      "weight": -0.1
    },
    "joint_limit": {
      "func": "gear_sonic.envs.manager_env.mdp:joint_pos_limits",
      "params": {
        "asset_cfg": "SceneEntityCfg(name='robot', joint_names=['.*'], joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)"
      },
      "weight": -10.0
    },
    "undesired_contacts": {
      "func": "dry_rewards.undesired_contacts",
      "params": {
        "sensor_cfg": "SceneEntityCfg(name='contact_forces', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=['^(?!(?:left|right)_ankle_(?:pitch|roll)_link$)(?!(?:left|right)_(?:wrist_yaw|elbow)_link$).+$'], body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)",
        "threshold": 5.0
      },
      "weight": -0.1
    },
    "anti_shake_ang_vel": {
      "func": "gear_sonic.envs.manager_env.mdp:anti_shake_ang_vel_l2",
      "params": {
        "command_name": "motion",
        "threshold": 1.5,
        "body_names": [
          "left_wrist_yaw_link",
          "right_wrist_yaw_link",
          "head_link"
        ]
      },
      "weight": -0.005
    },
    "tracking_vr_5point_local": {
      "func": "gear_sonic.envs.manager_env.mdp:tracking_local_vr_5point_error",
      "params": {
        "command_name": "motion",
        "std": 0.1
      },
      "weight": 2.0
    },
    "feet_acc": {
      "func": "gear_sonic.envs.manager_env.mdp:joint_acc_l2",
      "params": {
        "asset_cfg": "SceneEntityCfg(name='robot', joint_names=['.*ankle.*'], joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)"
      },
      "weight": -2.5e-06
    }
  },
  "terminations": {
    "time_out": {
      "func": "gear_sonic.envs.manager_env.mdp:tracking_time_out",
      "params": {
        "command_name": "motion"
      },
      "time_out": true
    },
    "anchor_pos": {
      "func": "dry_terminations.recovery_height",
      "params": {
        "command_name": "motion",
        "threshold": 0.3,
        "hold_s": 0.3,
        "grace_s": 0.2,
        "hard_threshold": 0.6
      },
      "time_out": false
    },
    "anchor_ori_full": {
      "func": "gear_sonic.envs.manager_env.mdp:exceeded_anchor_ori",
      "params": {
        "asset_cfg": "SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)",
        "command_name": "motion",
        "threshold": 0.64
      },
      "time_out": false
    },
    "tile_boundary": {
      "func": "dry_terminations.tile_boundary",
      "params": {},
      "time_out": false
    },
    "episode_time_limit": {
      "func": "dry_terminations.episode_time_limit",
      "params": {},
      "time_out": true
    }
  },
  "events": {},
  "motion_reset": {
    "pose_range": {
      "x": [
        -0.02,
        0.02
      ],
      "y": [
        -0.02,
        0.02
      ],
      "z": [
        0.0,
        0.0
      ],
      "roll": [
        -0.03,
        0.03
      ],
      "pitch": [
        -0.03,
        0.03
      ],
      "yaw": [
        -0.1,
        0.1
      ]
    },
    "velocity_range": {
      "x": [
        -0.05,
        0.05
      ],
      "y": [
        -0.05,
        0.05
      ],
      "z": [
        0.0,
        0.0
      ],
      "roll": [
        0.0,
        0.0
      ],
      "pitch": [
        0.0,
        0.0
      ],
      "yaw": [
        0.0,
        0.0
      ]
    },
    "joint_position_range": [
      -0.03,
      0.03
    ],
    "joint_velocity_range": [
      0.0,
      0.0
    ]
  },
  "practice": {
    "minimum_reference_remaining_s": 2.0,
    "initial_levels": [
      0,
      1,
      1,
      2
    ],
    "curriculum_enabled": false,
    "placement_lookahead_s": 2.0,
    "terrain_families": [
      "ground",
      "sand",
      "mud",
      "sand+mud"
    ],
    "placement_objective": "soil",
    "reference_speed": 1.0,
    "tempo_curriculum": null
  },
  "soil_depth": {
    "depth_m": 0.14,
    "bed_floor_z": -0.14,
    "initial_surface_z": 0.0,
    "schedule": "static for this native process"
  }
}