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+experiment_name: humanoid_direct
+run_name: ''
+logger: tensorboard
+neptune_project: isaaclab
+wandb_project: isaaclab
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+load_run: .*
+load_checkpoint: model_.*.pt
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+  - 200
+  - 100
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+    std_type: scalar
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+  - 100
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+  - 7.5
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+  - 1280
+  - 720
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+  - 0.0
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+    friction_correlation_distance: 0.025
+    gpu_max_rigid_contact_count: 8388608
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+    gpu_found_lost_aggregate_pairs_capacity: 33554432
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+  create_stage_in_memory: false
+  logging_level: WARNING
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+seed: 42
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+log_dir: /workspace/IsaacLab/logs/rsl_rl/humanoid_direct/2026-04-13_00-52-00
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+      sleep_threshold: 0.005
+      stabilization_threshold: 0.001
+      fix_root_link: null
+    fixed_tendons_props: null
+    spatial_tendons_props: null
+    joint_drive_props: null
+    visual_material_path: material
+    visual_material: null
+    usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Robots/IsaacSim/Humanoid/humanoid_instanceable.usd
+    variants: null
+  init_state:
+    pos: !!python/tuple
+    - 0.0
+    - 0.0
+    - 1.34
+    rot: !!python/tuple
+    - 1.0
+    - 0.0
+    - 0.0
+    - 0.0
+    lin_vel: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    ang_vel: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    joint_pos:
+      .*: 0.0
+    joint_vel:
+      .*: 0.0
+  collision_group: 0
+  debug_vis: false
+  articulation_root_prim_path: null
+  soft_joint_pos_limit_factor: 1.0
+  actuators:
+    body:
+      class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
+      joint_names_expr:
+      - .*
+      effort_limit: null
+      velocity_limit: null
+      effort_limit_sim: null
+      velocity_limit_sim:
+        .*: 100.0
+      stiffness:
+        .*_waist.*: 20.0
+        .*_upper_arm.*: 10.0
+        pelvis: 10.0
+        .*_lower_arm: 2.0
+        .*_thigh:0: 10.0
+        .*_thigh:1: 20.0
+        .*_thigh:2: 10.0
+        .*_shin: 5.0
+        .*_foot.*: 2.0
+      damping:
+        .*_waist.*: 5.0
+        .*_upper_arm.*: 5.0
+        pelvis: 5.0
+        .*_lower_arm: 1.0
+        .*_thigh:0: 5.0
+        .*_thigh:1: 5.0
+        .*_thigh:2: 5.0
+        .*_shin: 0.1
+        .*_foot.*: 1.0
+      armature: null
+      friction: null
+      dynamic_friction: null
+      viscous_friction: null
+  actuator_value_resolution_debug_print: false
+joint_gears:
+- 67.5
+- 67.5
+- 67.5
+- 67.5
+- 67.5
+- 67.5
+- 67.5
+- 45.0
+- 45.0
+- 45.0
+- 135.0
+- 45.0
+- 45.0
+- 135.0
+- 45.0
+- 90.0
+- 90.0
+- 22.5
+- 22.5
+- 22.5
+- 22.5
+heading_weight: 0.5
+up_weight: 0.1
+energy_cost_scale: 0.05
+actions_cost_scale: 0.01
+alive_reward_scale: 2.0
+dof_vel_scale: 0.1
+death_cost: -1.0
+termination_height: 0.8
+angular_velocity_scale: 0.25
+contact_force_scale: 0.01
+action_scale: 1.0
+terrain:
+  class_type: isaaclab.terrains.terrain_importer:TerrainImporter
+  collision_group: -1
+  prim_path: /World/ground
+  num_envs: 2048
+  terrain_type: plane
+  terrain_generator: null
+  usd_path: null
+  env_spacing: 4.0
+  use_terrain_origins: true
+  visual_material:
+    func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+    diffuse_color: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    emissive_color: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    roughness: 0.5
+    metallic: 0.0
+    opacity: 1.0
+  physics_material:
+    func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
+    static_friction: 1.0
+    dynamic_friction: 1.0
+    restitution: 0.0
+    friction_combine_mode: average
+    restitution_combine_mode: average
+    compliant_contact_stiffness: 0.0
+    compliant_contact_damping: 0.0
+  max_init_terrain_level: null
+  debug_vis: false