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platform_deployment‡"{"version": 1, "taskId": "Unitree-Go2-ObstacleAvoidance", "browserCompatible": true, "observationSize": 81, "actionSize": 12, "controlHz": 50, "gaitPeriod": 0.6, "jointNames": ["FL_hip_joint", "FL_thigh_joint", "FL_calf_joint", "FR_hip_joint", "FR_thigh_joint", "FR_calf_joint", "RL_hip_joint", "RL_thigh_joint", "RL_calf_joint", "RR_hip_joint", "RR_thigh_joint", "RR_calf_joint"], "defaultJointPosition": [-0.1, 0.9, -1.8, 0.1, 0.9, -1.8, -0.1, 0.9, -1.8, 0.1, 0.9, -1.8], "actionScale": [0.25, 0.25, 0.25, 0.25, 0.25, 0.25, 0.25, 0.25, 0.25, 0.25, 0.25, 0.25], "stiffness": [20, 20, 40, 20, 20, 40, 20, 20, 40, 20, 20, 40], "damping": [1, 1, 2, 1, 1, 2, 1, 1, 2, 1, 1, 2], "effortLimits": [23.5, 23.5, 45, 23.5, 23.5, 45, 23.5, 23.5, 45, 23.5, 23.5, 45], "observationTerms": ["base_ang_vel", "projected_gravity", "command", "phase", "joint_pos", "joint_vel", "actions", "forward_depth", "target_error"], "seed": 42, "terrainPreset": "discrete_obstacles", "terrainParams": {"size": 12, "obstacle_count": 24, "obstacle_height_min": 0.2, "obstacle_height_max": 0.6, "spacing": 1.2, "friction": 0.8, "roughness": 0.06, "step_height": 0.08, "wave_amplitude": 0.08}, "terrain": {"representation": "boxes-v1", "approximation": false, "size": 12, "friction": 0.8, "boxes": [{"pos": [0, 0, -0.1], "size": [6.0, 6.0, 0.1], "yaw": 0}, {"pos": [0.666666666666667, 1.875, 0.261425654654876], "size": [0.2, 0.2, 0.261425654654876], "yaw": 0}, {"pos": [-0.6666666666666665, 4.375, 0.24594635733876358], "size": [0.2, 0.2, 0.24594635733876358], "yaw": 0}, {"pos": [0.666666666666667, -4.375, 0.20724561829094013], "size": [0.2, 0.2, 0.20724561829094013], "yaw": 0}, {"pos": [-2.0, -1.875, 0.29462315279587414], "size": [0.2, 0.2, 0.29462315279587414], "yaw": 0}, {"pos": [-0.6666666666666665, 1.875, 0.17570687544167068], "size": [0.2, 0.2, 0.17570687544167068], "yaw": 0}, {"pos": [-2.0, -3.125, 0.2104081262546454], "size": [0.2, 0.2, 0.2104081262546454], "yaw": 0}, {"pos": [0.666666666666667, 3.125, 0.265880932850599], "size": [0.2, 0.2, 0.265880932850599], "yaw": 0}, {"pos": [2.0, 4.375, 0.2237039504728492], "size": [0.2, 0.2, 0.2237039504728492], "yaw": 0}, {"pos": [-2.0, 0.625, 0.27234138006215547], "size": [0.2, 0.2, 0.27234138006215547], "yaw": 0}, {"pos": [-3.3333333333333335, -0.625, 0.21547042905135239], "size": [0.2, 0.2, 0.21547042905135239], "yaw": 0}, {"pos": [2.0, -0.625, 0.24091436724298468], "size": [0.2, 0.2, 0.24091436724298468], "yaw": 0}, {"pos": [-3.3333333333333335, 0.625, 0.10916487673113245], "size": [0.2, 0.2, 0.10916487673113245], "yaw": 0}, {"pos": [3.333333333333333, -0.625, 0.14557965513030938], "size": [0.2, 0.2, 0.14557965513030938], "yaw": 0}, {"pos": [0.666666666666667, -1.875, 0.15787759272042143], "size": [0.2, 0.2, 0.15787759272042143], "yaw": 0}, {"pos": [-2.0, -0.625, 0.11595839538472551], "size": [0.2, 0.2, 0.11595839538472551], "yaw": 0}, {"pos": [2.0, -3.125, 0.14655817727220605], "size": [0.2, 0.2, 0.14655817727220605], "yaw": 0}, {"pos": [0.666666666666667, 0.625, 0.12020028588194583], "size": [0.2, 0.2, 0.12020028588194583], "yaw": 0}, {"pos": [3.333333333333333, -3.125, 0.15559472062201843], "size": [0.2, 0.2, 0.15559472062201843], "yaw": 0}, {"pos": [-0.6666666666666665, -1.875, 0.22713688885288003], "size": [0.2, 0.2, 0.22713688885288003], "yaw": 0}, {"pos": [0.666666666666667, 4.375, 0.17296643579401685], "size": [0.2, 0.2, 0.17296643579401685], "yaw": 0}, {"pos": [3.333333333333333, 3.125, 0.17403619342337653], "size": [0.2, 0.2, 0.17403619342337653], "yaw": 0}, {"pos": [2.0, -4.375, 0.14190140615429753], "size": [0.2, 0.2, 0.14190140615429753], "yaw": 0}, {"pos": [2.0, 0.625, 0.15339556440982266], "size": [0.2, 0.2, 0.15339556440982266], "yaw": 0}, {"pos": [0.666666666666667, -3.125, 0.2873309175424988], "size": [0.2, 0.2, 0.2873309175424988], "yaw": 0}], "spawn": [-5.0, 0, 0.32], "spawnQuaternion": [1, 0, 0, 0], "target": [5.0, 0], "actualObstacleCount": 24}, "sensorCfg": {"fov": 90, "maxDistance": 4, "safetyDistance": 0.5, "avoidanceWeight": 2, "type": "raycast", "rayCount": 32, "offset": [0.3, 0, 0.05], "alignment": "base", "terrainOnly": true, "includeGround": true}, "navigation": {"speed": 0.6, "arrivalRadius": 0.5, "distanceScale": 12, "headingScale": 3.141592653589793, "yawGain": 1.0, "maxYawRate": 1.0, "episodeSeconds": 20, "onArrival": "stop", "onReset": "respawn"}}