humanoid_clutter_easy.yaml

run_id: pointgoal_humanoid_eval_clutter_easy
run_root_dir: outputs/evaluation
logger: null

environment:
  embodiment: unitree_g1
  task_type: pointgoal
  scene_dir: data/scenes/cluttered_easy
  scene_index: 0
  num_envs: 1
  rgb_history_window: 1024
  depth_history_window: 1
  rgb_num_samples: 7
  depth_num_samples: 1
  rgb_image_size: 224
  depth_image_size: 224
  height_offset: 0.74
  stuck_window_size: 50
  stuck_threshold: 0.1
  arrival_threshold: 1.0
  grid_size: 0.5
  scene_scale: 0.75
  scale_factor: 1.0
  action_scale: 0.5
  eval_mode: True
  device: cuda:0

controller:
  type: unitree_g1
  name: unitreeg1_ctroller
  policy_path: src/environment/controllers/checkpoints/humanoid_g1/policy.pt
  control_dt: 0.02
  max_linear_speed: 1.0
  max_angular_speed: 1.0
  clip_actions: 100.0

obs_mapping:
  rgb: raw_rgb
  depth: raw_depth
  pointgoal: goal_pose
  birdeye: birdeye_rgb
  robot_pos: robot_pose
  robot_quat: robot_rot

mpc:
  N: 75  # Prediction horizon
  desired_v: 0.5  # Desired velocity
  v_max: 0.5  # Maximum velocity
  w_max: 0.5  # Maximum angular velocity
  ref_gap: 3  # Reference gap
  T: 0.04  # Time step