humanoid_calm_sword_shield_getup.yaml

# if given, will override the device setting in gym. 
env: 
  numEnvs: 4096
  envSpacing: 5
  episodeLength: 300
  isFlagrun: False
  enableDebugVis: False
  
  pdControl: True
  powerScale: 1.0
  controlFrequencyInv: 2 # 30 Hz
  stateInit: "Hybrid"
  hybridInitProb: 0.5
  numAMPObsSteps: 10
  numAMPEncObsSteps: 60
  recoveryEpisodeProb: 0.2
  recoverySteps: 60
  fallInitProb: 0.1
  
  localRootObs: True
  keyBodies: ["right_hand", "left_hand", "right_foot", "left_foot", "sword", "shield"]
  contactBodies: ["right_foot", "left_foot"]
  terminationHeight: 0.15
  enableEarlyTermination: True

#  equal_motion_weights: True   # override weights in motion file to assign equal weights to all

  asset:
    assetRoot: "calm/data/assets"
    assetFileName: "mjcf/amp_humanoid_sword_shield.xml"

  plane:
    staticFriction: 1.0
    dynamicFriction: 1.0
    restitution: 0.0

sim:
  substeps: 2
  physx:
    num_threads: 4
    solver_type: 1  # 0: pgs, 1: tgs
    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

  flex:
    num_inner_iterations: 10
    warm_start: 0.25