{
    // 使用 IntelliSense 了解相关属性。 
    // 悬停以查看现有属性的描述。
    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "go2 joystick debug",
            "type": "debugpy",
            "request": "launch",
            "program": "${workspaceFolder}/robogauge/scripts/run.py",
            "args": [
                "--task", "go2_moe.flat",
                "--experiment-name", "debug",
                "--seed", "0",
                "--friction", "0.6",
                "--goals", "joystick",
                "--write-tensorboard",
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "go2 moe flat single pipeline",
            "type": "debugpy",
            "request": "launch",
            "program": "${workspaceFolder}/robogauge/scripts/run.py",
            "args": [
                "--task", "go2_moe.flat",
                "--experiment-name", "debug",
                "--seed", "0",
                "--friction", "0.6",
                "--headless"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "go2 moe slope level pipeline",
            "type": "debugpy",
            "request": "launch",
            "program": "${workspaceFolder}/robogauge/scripts/run.py",
            "args": [
                "--task", "go2_moe.slope_bd",
                "--experiment-name", "debug",
                "--seed", "0",
                // "--search-max-level",
                // "--seeds", "0", "1", "2",
                "--frictions", "0.4",
                // "--headless"
            ],
            "console": "integratedTerminal"
        },
        {
            "name": "go2 mcp stairs_bd load",
            "type": "debugpy",
            "request": "launch",
            "program": "${workspaceFolder}/robogauge/scripts/run.py",
            "args": [
                "--task", "go2_moe.stairs_bd",
                "--model-path", "/data/user/wutianyang/Coding/robotics/go2_rl_gym/logs/go2_mcp_cts/Dec31_01-21-01_/jit_models/policy_jit_0.pt",
                "--experiment-name", "mcp_debug",
                "--seed", "3",
                "--level", "8",
                "--frictions", "0.2",
            ],
            "env": {"DISPLAY": ":1"},
            "console": "integratedTerminal"
        },
    ]
}
