Delete HoloMotion_motion_tracking_model

HoloMotion_motion_tracking_model/config.yaml

@@ -1,1708 +0,0 @@
-project_name: HoloMotionMotrackV1.2
-experiment_name: training/motion_tracking/V1.3.0-RC4_8x8GPUs
-num_envs: 8192
-headless: true
-motion_h5_path: ???
-checkpoint: null
-num_processes: 64
-main_process: true
-process_id: 0
-timestamp: ${now:%Y%m%d_%H%M%S}
-base_dir: /horizon-bucket/robot_lab/users/bo07.zhang-labs/expr_output/HoloMotionMotionTracking
-experiment_dir: ${base_dir}/${project_name}/${timestamp}-${experiment_name}
-save_dir: ${experiment_dir}/.hydra
-output_dir: ${experiment_dir}/output
-experiment_save_dir: /horizon-bucket/robot_lab/users/bo07.zhang-labs/expr_output/HoloMotionMotionTracking/HoloMotionMotrackV1.2/20260512_023208-training/motion_tracking/V1.3.0-RC4_8x8GPUs
-_group_:
-  enabled: false
-  model_type: holomotion
-  headless: false
-  record_video: false
-  video_width: 1280
-  video_height: 720
-  video_fps: 30
-  camera_tracking: true
-  camera_height_offset: 0.3
-  camera_distance: 4.0
-  camera_azimuth: 150.0
-  camera_elevation: -20.0
-  robot_xml_path: null
-  motion_npz_dir: null
-  motion_npz_path: null
-  ckpt_onnx_path: null
-  ckpt_onnx_root_dir: null
-  ckpt_onnx_names: null
-  dump_npzs: true
-  calc_per_clip_metrics: false
-  generate_report: false
-  metric_calculation: per_clip
-  dof_mode: '23'
-  failure_pos_err_thresh_m: 0.25
-  ray_actors_per_gpu: 16
-  ray_auto_reduce_actors_per_gpu: true
-  ray_actor_startup_probe_timeout_s: 300
-  ray_multi_ckpt_mode: split
-  use_gpu: true
-algo:
-  _target_: holomotion.src.algo.ppo_tf.PPOTF
-  _recursive_: false
-  config:
-    enable_online_eval: false
-    num_learning_iterations: 10001
-    log_interval: 5
-    save_interval: 1000
-    export_policy: true
-    onnx_name_suffix: null
-    use_kv_cache: true
-    eval_interval: null
-    load_optimizer: true
-    headless: ${headless}
-    mixed_precision: null
-    dynamo_backend: inductor
-    init_at_random_ep_len: true
-    num_steps_per_env: 32
-    num_learning_epochs: 3
-    num_mini_batches: 24
-    clip_param: 0.2
-    gamma: 0.99
-    lam: 0.95
-    value_loss_coef: 1.0
-    entropy_coef: 0.005
-    anneal_entropy: false
-    zero_entropy_point: 1.0
-    max_grad_norm: 1.0
-    use_clipped_value_loss: true
-    desired_kl: 0.01
-    init_noise_std: 1.0
-    optimizer_type: AdamW
-    schedule: adaptive
-    actor_learning_rate: 3.0e-05
-    critic_learning_rate: 5.0e-05
-    adaptive_lr:
-      adapt_critic: false
-      lr_scaler: 1.2
-      kl_high_factor: 2.0
-      kl_low_factor: 0.5
-      min_learning_rate: 1.0e-06
-      max_learning_rate: 1.0
-    distributed_update:
-      mode: scalable
-      lr_scale:
-        mode: sqrt_world_size
-        reference_world_size: 1
-        max_scale: null
-      kl_early_stop:
-        enabled: true
-        signal: window_mean
-        window_size: 3
-        factor: 1.8
-        min_updates: 1
-    normalize_advantage_per_mini_batch: false
-    global_advantage_norm: true
-    sampling_strategy: weighted_bin
-    curriculum:
-      p_a_ratio: 0.5
-      ema_alpha_signal: 0.2
-      ema_alpha_rel_improve: 0.2
-      relative_eps: 1.0e-06
-      dump_whole_window_scores_json: false
-      dump_whole_window_scores_every_swaps: 10
-    weighted_bin:
-      bin_regex_patterns:
-      - regex: .*AMASS.*
-        ratio: 0.1
-      - regex: .*pico.*
-        ratio: 0.1
-      - regex: .*sonic.*
-        ratio: 0.1
-      - regex: .*nyt.*
-        ratio: 0.1
-      - regex: .*LAFAN1.*
-        ratio: 0.02
-      - regex: .*MotionMillion.*
-        ratio: 0.02
-      dump_sampled_keys: false
-      dump_sampled_keys_interval: 1000
-    module_dict:
-      actor: ${modules.actor}
-      critic: ${modules.critic}
-    symmetry_loss:
-      enabled: false
-      coef: 0.1
-      dof_sign_by_name: ${robot.dof_sign_by_name}
-    kl_coef: 0.0
-    noise_std_type: log
-    fix_sigma: false
-    min_sigma: 0.01
-    max_sigma: 1.2
-    aux_state_pred:
-      enabled: true
-      w_keybody_contact: 0.01
-      w_base_lin_vel: 0.01
-      w_ref_keybody_rel_pos: 0.1
-      w_robot_keybody_rel_pos: 0.1
-      min_std: 0.01
-      max_std: 2.0
-      keybody_contact_names:
-      - left_hip_pitch_link
-      - right_hip_pitch_link
-      - left_knee_link
-      - right_knee_link
-      - left_ankle_roll_link
-      - right_ankle_roll_link
-      - left_elbow_link
-      - right_elbow_link
-      - left_wrist_yaw_link
-      - right_wrist_yaw_link
-      keybody_rel_pos_names:
-      - left_knee_link
-      - right_knee_link
-      - left_ankle_roll_link
-      - right_ankle_roll_link
-      - left_elbow_link
-      - right_elbow_link
-      - left_wrist_yaw_link
-      - right_wrist_yaw_link
-    dead_expert_margin_to_topk:
-      enabled: true
-      weight: 0.1
-    aux_router_command_recon:
-      enabled: false
-      weight: 0.0
-      hidden_dim: 0
-      term_prefix: actor_ref_
-    aux_router_switch_penalty:
-      enabled: false
-      weight: 0.0
-    router_expert_orthogonal:
-      enabled: false
-      weight: 0.0
-      min_active_usage: 0.001
-      eps: 1.0e-08
-    selected_expert_margin_to_unselected:
-      enabled: false
-      weight: 0.0
-      target: 0.0
-    moe_router:
-      routing_score_fn: softmax
-      routing_scale: 1.0
-      use_dynamic_bias: false
-      bias_update_rate: 0.001
-      expert_bias_clip: 0.0
-robot:
-  humanoid_type: unitree/G1/29dof
-  dof_obs_size: 29
-  actions_dim: 29
-  num_bodies: 30
-  num_extend_bodies: 0
-  undesired_contacts_regrex: ^(?!left_ankle_roll_link$)(?!right_ankle_roll_link$)(?!left_wrist_yaw_link$)(?!right_wrist_yaw_link$).+$
-  torso_name: torso_link
-  anchor_body: torso_link
-  key_bodies:
-  - pelvis
-  - left_hip_roll_link
-  - left_knee_link
-  - left_ankle_pitch_link
-  - right_hip_roll_link
-  - right_knee_link
-  - right_ankle_pitch_link
-  - torso_link
-  - left_shoulder_roll_link
-  - left_elbow_link
-  - left_wrist_yaw_link
-  - right_shoulder_roll_link
-  - right_elbow_link
-  - right_wrist_yaw_link
-  key_dofs:
-  - left_knee_joint
-  - right_knee_joint
-  - left_elbow_joint
-  - right_elbow_joint
-  dof_names:
-  - left_hip_pitch_joint
-  - left_hip_roll_joint
-  - left_hip_yaw_joint
-  - left_knee_joint
-  - left_ankle_pitch_joint
-  - left_ankle_roll_joint
-  - right_hip_pitch_joint
-  - right_hip_roll_joint
-  - right_hip_yaw_joint
-  - right_knee_joint
-  - right_ankle_pitch_joint
-  - right_ankle_roll_joint
-  - waist_yaw_joint
-  - waist_roll_joint
-  - waist_pitch_joint
-  - left_shoulder_pitch_joint
-  - left_shoulder_roll_joint
-  - left_shoulder_yaw_joint
-  - left_elbow_joint
-  - left_wrist_roll_joint
-  - left_wrist_pitch_joint
-  - left_wrist_yaw_joint
-  - right_shoulder_pitch_joint
-  - right_shoulder_roll_joint
-  - right_shoulder_yaw_joint
-  - right_elbow_joint
-  - right_wrist_roll_joint
-  - right_wrist_pitch_joint
-  - right_wrist_yaw_joint
-  arm_dof_names:
-  - left_shoulder_pitch_joint
-  - left_shoulder_roll_joint
-  - left_shoulder_yaw_joint
-  - left_elbow_joint
-  - left_wrist_roll_joint
-  - left_wrist_pitch_joint
-  - left_wrist_yaw_joint
-  - right_shoulder_pitch_joint
-  - right_shoulder_roll_joint
-  - right_shoulder_yaw_joint
-  - right_elbow_joint
-  - right_wrist_roll_joint
-  - right_wrist_pitch_joint
-  - right_wrist_yaw_joint
-  waist_dof_names:
-  - waist_yaw_joint
-  - waist_roll_joint
-  - waist_pitch_joint
-  leg_dof_names:
-  - left_hip_pitch_joint
-  - left_hip_roll_joint
-  - left_hip_yaw_joint
-  - left_knee_joint
-  - left_ankle_pitch_joint
-  - left_ankle_roll_joint
-  - right_hip_pitch_joint
-  - right_hip_roll_joint
-  - right_hip_yaw_joint
-  - right_knee_joint
-  - right_ankle_pitch_joint
-  - right_ankle_roll_joint
-  left_arm_dof_names:
-  - left_shoulder_pitch_joint
-  - left_shoulder_roll_joint
-  - left_shoulder_yaw_joint
-  - left_elbow_joint
-  - left_wrist_roll_joint
-  - left_wrist_pitch_joint
-  - left_wrist_yaw_joint
-  right_arm_dof_names:
-  - right_shoulder_pitch_joint
-  - right_shoulder_roll_joint
-  - right_shoulder_yaw_joint
-  - right_elbow_joint
-  - right_wrist_roll_joint
-  - right_wrist_pitch_joint
-  - right_wrist_yaw_joint
-  left_leg_dof_names:
-  - left_hip_pitch_joint
-  - left_hip_roll_joint
-  - left_hip_yaw_joint
-  - left_knee_joint
-  - left_ankle_pitch_joint
-  - left_ankle_roll_joint
-  right_leg_dof_names:
-  - right_hip_pitch_joint
-  - right_hip_roll_joint
-  - right_hip_yaw_joint
-  - right_knee_joint
-  - right_ankle_pitch_joint
-  - right_ankle_roll_joint
-  upper_body_dof_names: ${robot.arm_dof_names}
-  lower_body_dof_names:
-  - left_hip_pitch_joint
-  - left_hip_roll_joint
-  - left_hip_yaw_joint
-  - left_knee_joint
-  - left_ankle_pitch_joint
-  - left_ankle_roll_joint
-  - right_hip_pitch_joint
-  - right_hip_roll_joint
-  - right_hip_yaw_joint
-  - right_knee_joint
-  - right_ankle_pitch_joint
-  - right_ankle_roll_joint
-  - waist_yaw_joint
-  - waist_roll_joint
-  - waist_pitch_joint
-  arm_body_names:
-  - left_shoulder_pitch_link
-  - left_shoulder_roll_link
-  - left_shoulder_yaw_link
-  - left_elbow_link
-  - left_wrist_roll_link
-  - left_wrist_pitch_link
-  - left_wrist_yaw_link
-  - right_shoulder_pitch_link
-  - right_shoulder_roll_link
-  - right_shoulder_yaw_link
-  - right_elbow_link
-  - right_wrist_roll_link
-  - right_wrist_pitch_link
-  - right_wrist_yaw_link
-  head_hand_bodies:
-  - torso_link
-  - left_wrist_yaw_link
-  - right_wrist_yaw_link
-  torso_body_names:
-  - waist_yaw_link
-  - waist_roll_link
-  - torso_link
-  leg_body_names:
-  - left_hip_pitch_link
-  - left_hip_roll_link
-  - left_hip_yaw_link
-  - left_knee_link
-  - left_ankle_pitch_link
-  - left_ankle_roll_link
-  - right_hip_pitch_link
-  - right_hip_roll_link
-  - right_hip_yaw_link
-  - right_knee_link
-  - right_ankle_pitch_link
-  - right_ankle_roll_link
-  left_arm_body_names:
-  - left_shoulder_pitch_link
-  - left_shoulder_roll_link
-  - left_shoulder_yaw_link
-  - left_elbow_link
-  - left_wrist_roll_link
-  - left_wrist_pitch_link
-  - left_wrist_yaw_link
-  right_arm_body_names:
-  - right_shoulder_pitch_link
-  - right_shoulder_roll_link
-  - right_shoulder_yaw_link
-  - right_elbow_link
-  - right_wrist_roll_link
-  - right_wrist_pitch_link
-  - right_wrist_yaw_link
-  left_leg_body_names:
-  - left_hip_pitch_link
-  - left_hip_roll_link
-  - left_hip_yaw_link
-  - left_knee_link
-  - left_ankle_pitch_link
-  - left_ankle_roll_link
-  right_leg_body_names:
-  - right_hip_pitch_link
-  - right_hip_roll_link
-  - right_hip_yaw_link
-  - right_knee_link
-  - right_ankle_pitch_link
-  - right_ankle_roll_link
-  body_names:
-  - pelvis
-  - left_hip_pitch_link
-  - left_hip_roll_link
-  - left_hip_yaw_link
-  - left_knee_link
-  - left_ankle_pitch_link
-  - left_ankle_roll_link
-  - right_hip_pitch_link
-  - right_hip_roll_link
-  - right_hip_yaw_link
-  - right_knee_link
-  - right_ankle_pitch_link
-  - right_ankle_roll_link
-  - waist_yaw_link
-  - waist_roll_link
-  - torso_link
-  - left_shoulder_pitch_link
-  - left_shoulder_roll_link
-  - left_shoulder_yaw_link
-  - left_elbow_link
-  - left_wrist_roll_link
-  - left_wrist_pitch_link
-  - left_wrist_yaw_link
-  - right_shoulder_pitch_link
-  - right_shoulder_roll_link
-  - right_shoulder_yaw_link
-  - right_elbow_link
-  - right_wrist_roll_link
-  - right_wrist_pitch_link
-  - right_wrist_yaw_link
-  init_state:
-    pos:
-    - 0.0
-    - 0.0
-    - 0.8
-    rot:
-    - 0.0
-    - 0.929
-    - 0.341
-    - 0.298
-    lin_vel:
-    - 0.0
-    - 0.0
-    - 0.0
-    ang_vel:
-    - 0.0
-    - 0.0
-    - 0.0
-    default_joint_angles:
-      left_hip_pitch_joint: -0.312
-      left_hip_roll_joint: 0.0
-      left_hip_yaw_joint: 0.0
-      left_knee_joint: 0.669
-      left_ankle_pitch_joint: -0.363
-      left_ankle_roll_joint: 0.0
-      right_hip_pitch_joint: -0.312
-      right_hip_roll_joint: 0.0
-      right_hip_yaw_joint: 0.0
-      right_knee_joint: 0.669
-      right_ankle_pitch_joint: -0.363
-      right_ankle_roll_joint: 0.0
-      waist_yaw_joint: 0.0
-      waist_roll_joint: 0.0
-      waist_pitch_joint: 0.1
-      left_shoulder_pitch_joint: 0.2
-      left_shoulder_roll_joint: 0.2
-      left_shoulder_yaw_joint: 0.0
-      left_elbow_joint: 0.6
-      left_wrist_roll_joint: 0.0
-      left_wrist_pitch_joint: 0.0
-      left_wrist_yaw_joint: 0.0
-      right_shoulder_pitch_joint: 0.2
-      right_shoulder_roll_joint: -0.2
-      right_shoulder_yaw_joint: 0.0
-      right_elbow_joint: 0.6
-      right_wrist_roll_joint: 0.0
-      right_wrist_pitch_joint: 0.0
-      right_wrist_yaw_joint: 0.0
-  actuators:
-    actuator_type: unitree_erfi
-    ema_filter_enabled: false
-    ema_filter_alpha: 1.0
-    all_joints:
-      joint_names_expr:
-      - .*_hip_yaw_joint
-      - .*_hip_roll_joint
-      - .*_hip_pitch_joint
-      - .*_knee_joint
-      - .*_ankle_pitch_joint
-      - .*_ankle_roll_joint
-      - waist_yaw_joint
-      - waist_roll_joint
-      - waist_pitch_joint
-      - .*_shoulder_pitch_joint
-      - .*_shoulder_roll_joint
-      - .*_shoulder_yaw_joint
-      - .*_elbow_joint
-      - .*_wrist_roll_joint
-      - .*_wrist_pitch_joint
-      - .*_wrist_yaw_joint
-      effort_limit_sim:
-        .*_hip_yaw_joint: 88.0
-        .*_hip_roll_joint: 139.0
-        .*_hip_pitch_joint: 88.0
-        .*_knee_joint: 139.0
-        .*_ankle_pitch_joint: 50.0
-        .*_ankle_roll_joint: 50.0
-        waist_yaw_joint: 88.0
-        waist_roll_joint: 50.0
-        waist_pitch_joint: 50.0
-        .*_shoulder_pitch_joint: 25.0
-        .*_shoulder_roll_joint: 25.0
-        .*_shoulder_yaw_joint: 25.0
-        .*_elbow_joint: 25.0
-        .*_wrist_roll_joint: 25.0
-        .*_wrist_pitch_joint: 5.0
-        .*_wrist_yaw_joint: 5.0
-      velocity_limit_sim:
-        .*_hip_yaw_joint: 32.0
-        .*_hip_roll_joint: 20.0
-        .*_hip_pitch_joint: 32.0
-        .*_knee_joint: 20.0
-        .*_ankle_pitch_joint: 37.0
-        .*_ankle_roll_joint: 37.0
-        waist_yaw_joint: 32.0
-        waist_roll_joint: 37.0
-        waist_pitch_joint: 37.0
-        .*_shoulder_pitch_joint: 37.0
-        .*_shoulder_roll_joint: 37.0
-        .*_shoulder_yaw_joint: 37.0
-        .*_elbow_joint: 37.0
-        .*_wrist_roll_joint: 37.0
-        .*_wrist_pitch_joint: 22.0
-        .*_wrist_yaw_joint: 22.0
-      stiffness:
-        .*_hip_pitch_joint: 40.17923847
-        .*_hip_roll_joint: 99.09842778
-        .*_hip_yaw_joint: 40.17923847
-        .*_knee_joint: 99.09842778
-        .*_ankle_pitch_joint: 28.5012462
-        .*_ankle_roll_joint: 28.5012462
-        waist_yaw_joint: 40.17923847
-        waist_roll_joint: 28.5012462
-        waist_pitch_joint: 28.5012462
-        .*_shoulder_pitch_joint: 14.2506231
-        .*_shoulder_roll_joint: 14.2506231
-        .*_shoulder_yaw_joint: 14.2506231
-        .*_elbow_joint: 14.2506231
-        .*_wrist_roll_joint: 14.25062309787429
-        .*_wrist_pitch_joint: 16.77832748089279
-        .*_wrist_yaw_joint: 16.77832748089279
-      damping:
-        .*_hip_pitch_joint: 2.55788977
-        .*_hip_roll_joint: 6.30880185
-        .*_hip_yaw_joint: 2.55788977
-        .*_knee_joint: 6.30880185
-        .*_ankle_pitch_joint: 1.81444569
-        .*_ankle_roll_joint: 1.81444569
-        waist_yaw_joint: 2.55788977
-        waist_roll_joint: 1.81444569
-        waist_pitch_joint: 1.81444569
-        .*_shoulder_pitch_joint: 0.90722284
-        .*_shoulder_roll_joint: 0.90722284
-        .*_shoulder_yaw_joint: 0.90722284
-        .*_elbow_joint: 0.90722284
-        .*_wrist_roll_joint: 0.907222843292423
-        .*_wrist_pitch_joint: 1.06814150219
-        .*_wrist_yaw_joint: 1.06814150219
-      armature:
-        .*_hip_pitch_joint: 0.01017752
-        .*_hip_roll_joint: 0.025101925
-        .*_hip_yaw_joint: 0.01017752
-        .*_knee_joint: 0.025101925
-        .*_ankle_pitch_joint: 0.00721945
-        .*_ankle_roll_joint: 0.00721945
-        waist_yaw_joint: 0.01017752
-        waist_roll_joint: 0.00721945
-        waist_pitch_joint: 0.00721945
-        .*_shoulder_pitch_joint: 0.003609725
-        .*_shoulder_roll_joint: 0.003609725
-        .*_shoulder_yaw_joint: 0.003609725
-        .*_elbow_joint: 0.003609725
-        .*_wrist_roll_joint: 0.003609725
-        .*_wrist_pitch_joint: 0.00425
-        .*_wrist_yaw_joint: 0.00425
-    action_scale:
-      .*_hip_pitch_joint: 0.548
-      .*_hip_roll_joint: 0.351
-      .*_hip_yaw_joint: 0.548
-      .*_knee_joint: 0.351
-      .*_ankle_pitch_joint: 0.439
-      .*_ankle_roll_joint: 0.439
-      waist_yaw_joint: 0.548
-      waist_roll_joint: 0.439
-      waist_pitch_joint: 0.439
-      .*_shoulder_pitch_joint: 0.439
-      .*_shoulder_roll_joint: 0.439
-      .*_shoulder_yaw_joint: 0.439
-      .*_elbow_joint: 0.439
-      .*_wrist_roll_joint: 0.439
-      .*_wrist_pitch_joint: 0.075
-      .*_wrist_yaw_joint: 0.075
-  dof_sign_by_name:
-    left_hip_pitch_joint: 1.0
-    left_hip_roll_joint: -1.0
-    left_hip_yaw_joint: -1.0
-    left_knee_joint: 1.0
-    left_ankle_pitch_joint: 1.0
-    left_ankle_roll_joint: -1.0
-    right_hip_pitch_joint: 1.0
-    right_hip_roll_joint: -1.0
-    right_hip_yaw_joint: -1.0
-    right_knee_joint: 1.0
-    right_ankle_pitch_joint: 1.0
-    right_ankle_roll_joint: -1.0
-    waist_yaw_joint: -1.0
-    waist_roll_joint: -1.0
-    waist_pitch_joint: 1.0
-    left_shoulder_pitch_joint: 1.0
-    left_shoulder_roll_joint: -1.0
-    left_shoulder_yaw_joint: -1.0
-    left_elbow_joint: 1.0
-    left_wrist_roll_joint: -1.0
-    left_wrist_pitch_joint: 1.0
-    left_wrist_yaw_joint: -1.0
-    right_shoulder_pitch_joint: 1.0
-    right_shoulder_roll_joint: -1.0
-    right_shoulder_yaw_joint: -1.0
-    right_elbow_joint: 1.0
-    right_wrist_roll_joint: -1.0
-    right_wrist_pitch_joint: 1.0
-    right_wrist_yaw_joint: -1.0
-  asset:
-    collapse_fixed_joints: true
-    replace_cylinder_with_capsule: true
-    flip_visual_attachments: false
-    max_angular_velocity: 1000.0
-    max_linear_velocity: 1000.0
-    density: 0.001
-    angular_damping: 0.0
-    linear_damping: 0.0
-    asset_root: ./
-    urdf_file: assets/robots/${robot.humanoid_type}/g1_29dof_rev_1_0.urdf
-    assetFileName: assets/robots/${robot.humanoid_type}/g1_29dof_rev_1_0.xml
-    fix_base_link: false
-    force_usd_conversion: true
-  extend_config: []
-  motion:
-    asset:
-      assetRoot: ./
-      assetFileName: assets/robots/${robot.humanoid_type}/g1_29dof_rev_1_0.xml
-    sampling_strategy: ${algo.config.sampling_strategy}
-    weighted_bin: ${algo.config.weighted_bin}
-    curriculum: ${algo.config.curriculum}
-    dump_sampled_motion_keys: false
-    dump_sampled_motion_keys_interval: 1
-    dump_sampled_motion_keys_dir: sampled_motion_cache_keys
-    max_frame_length: 300
-    min_frame_length: 50
-    handpicked_motion_names: null
-    excluded_motion_names: null
-    world_frame_normalization: true
-    backend: hdf5_v2
-    train_hdf5_roots: ${train_hdf5_roots}
-    val_hdf5_roots: ${train_hdf5_roots}
-    dof_names: ${robot.dof_names}
-    body_names: ${robot.body_names}
-    key_bodies: ${robot.key_bodies}
-    extend_config: ${robot.extend_config}
-    dataloader:
-      num_workers: 2
-      prefetch_factor: 1
-      pin_memory: true
-      persistent_workers: false
-      timeout: 600
-    fk_robot_file_path: ${robot.asset.urdf_file}
-    fk_vel_smoothing_sigma: 2.0
-    online_filter:
-      enabled: false
-      butter_order: 4
-      butter_cutoff_hz_pool: []
-    cache:
-      batch_progress_bar: false
-      max_num_clips: ${num_envs}
-      device: cuda
-      swap_interval_steps: ${robot.motion.max_frame_length}
-      allowed_prefixes:
-      - ref_
-      - ft_ref_
-env:
-  _target_: holomotion.src.env.motion_tracking.MotionTrackingEnv
-  _recursive_: false
-  config:
-    experiment_name: ${experiment_name}
-    num_envs: ${num_envs}
-    env_spacing: 2.5
-    replicate_physics: true
-    headless: ${headless}
-    num_processes: ${num_processes}
-    main_process: ${main_process}
-    process_id: ${process_id}
-    ckpt_dir: null
-    disable_ref_viz: false
-    eval_log_dir: null
-    save_rendering_dir: /horizon-bucket/robot_lab/users/bo07.zhang-labs/expr_output/HoloMotionMotionTracking/HoloMotionMotrackV1.2/20260512_023208-training/motion_tracking/V1.3.0-RC4_8x8GPUs/renderings_training
-    robot: ${robot}
-    domain_rand: ${domain_rand}
-    rewards: ${rewards}
-    terrain: ${terrain}
-    obs: ${obs}
-    terminations: ${terminations}
-    simulation:
-      episode_length_s: 10
-      sim_freq: 200
-      control_decimation: 4
-      physx:
-        bounce_threshold_velocity: 0.5
-        gpu_max_rigid_patch_count: 327680
-    scene:
-      terrain: ${terrain}
-      lighting:
-        distant_light_intensity: 3000.0
-        dome_light_intensity: 1000.0
-      contact_sensor:
-        history_length: 3
-        force_threshold: 10.0
-        track_air_time: true
-        debug_vis: false
-    actions:
-      dof_pos:
-        type: joint_position
-        params:
-          asset_name: robot
-          joint_names:
-          - .*
-          use_default_offset: true
-          scale: ${robot.actuators.action_scale}
-    commands:
-      ref_motion:
-        type: MotionCommandCfg
-        params:
-          command_obs_name: bydmmc_ref_motion
-          motion_lib_cfg: ${robot.motion}
-          urdf_dof_names: ${robot.dof_names}
-          urdf_body_names: ${robot.body_names}
-          arm_dof_names: ${robot.arm_dof_names}
-          waist_dof_names: ${robot.waist_dof_names}
-          leg_dof_names: ${robot.leg_dof_names}
-          arm_body_names: ${robot.arm_body_names}
-          torso_body_names: ${robot.torso_body_names}
-          leg_body_names: ${robot.leg_body_names}
-          anchor_bodylink_name: ${robot.anchor_body}
-          asset_name: robot
-          debug_vis: true
-          root_pose_perturb_range: ${domain_rand.motion_init_perturb.root_pose_perturb_range}
-          root_vel_perturb_range: ${domain_rand.motion_init_perturb.root_vel_perturb_range}
-          dof_pos_perturb_range: ${domain_rand.motion_init_perturb.dof_pos_perturb_range}
-          dof_vel_perturb_range: ${domain_rand.motion_init_perturb.dof_vel_perturb_range}
-          resample_time_interval_s: 100
-          n_fut_frames: ${obs.n_fut_frames}
-          target_fps: 50
-    normalization:
-      clip_actions: 100.0
-      clip_observations: 100.0
-    resample_motion_when_training: true
-    curriculum:
-      enabled: false
-      robot_friction_completion_rate:
-        enabled: true
-        func: robot_friction_range_by_completion_rate
-        params:
-          num_updates: 5
-          cr_thresholds:
-          - 0.1
-          - 0.2
-          - 0.28
-          - 0.34
-          - 0.4
-          static_friction_target:
-          - 0.3
-          - 1.6
-          dynamic_friction_target:
-          - 0.3
-          - 1.2
-          body_names: .*
-          restitution_range:
-          - 0.0
-          - 0.5
-          num_buckets: 64
-      rigid_body_com_completion_rate:
-        enabled: true
-        func: rigid_body_com_by_completion_rate
-        params:
-          num_updates: 5
-          cr_thresholds:
-          - 0.1
-          - 0.2
-          - 0.28
-          - 0.34
-          - 0.4
-          state_prefix: _cr_curr
-          asset_name: robot
-          body_names: torso_link
-          com_range_target:
-            x:
-            - -0.025
-            - 0.025
-            'y':
-            - -0.05
-            - 0.05
-            z:
-            - -0.05
-            - 0.05
-      default_dof_pos_bias_completion_rate:
-        enabled: true
-        func: default_dof_pos_bias_by_completion_rate
-        params:
-          num_updates: 5
-          cr_thresholds:
-          - 0.1
-          - 0.2
-          - 0.28
-          - 0.34
-          - 0.4
-          state_prefix: _cr_curr
-          joint_names:
-          - .*
-          pos_distribution_params_target:
-          - -0.01
-          - 0.01
-          operation: add
-          distribution: uniform
-      push_by_setting_velocity_completion_rate:
-        enabled: true
-        func: isaaclab_mdp.modify_term_cfg
-        params:
-          address: events.push_by_setting_velocity.params
-          modify_fn: push_by_setting_velocity_range_by_completion_rate
-          modify_params:
-            num_updates: 3
-            cr_thresholds:
-            - 0.2
-            - 0.3
-            - 0.4
-            velocity_range_target:
-              x:
-              - -0.5
-              - 0.5
-              'y':
-              - -0.5
-              - 0.5
-              z:
-              - -0.2
-              - 0.2
-              roll:
-              - -0.52
-              - 0.52
-              pitch:
-              - -0.52
-              - 0.52
-              yaw:
-              - -0.78
-              - 0.78
-      randomize_actuator_gains_completion_rate:
-        enabled: true
-        func: randomize_actuator_gains_by_completion_rate
-        params:
-          num_updates: 3
-          cr_thresholds:
-          - 0.2
-          - 0.3
-          - 0.4
-          asset_name: robot
-          body_names: .*
-          stiffness_distribution_params_target:
-          - 0.9
-          - 1.1
-          damping_distribution_params_target:
-          - 0.9
-          - 1.1
-          operation: scale
-          distribution: uniform
-      action_rate_l2_completion_rate:
-        enabled: true
-        func: reward_term_weight_by_completion_rate
-        params:
-          reward_term_name: action_rate_l2
-          final_weight: -0.1
-          start_scale: 0.1
-          num_updates: 5
-          cr_thresholds:
-          - 0.1
-          - 0.2
-          - 0.28
-          - 0.34
-          - 0.4
-      joint_pos_limits_completion_rate:
-        enabled: true
-        func: reward_term_weight_by_completion_rate
-        params:
-          reward_term_name: joint_pos_limits
-          final_weight: -10.0
-          start_scale: 0.1
-          num_updates: 5
-          cr_thresholds:
-          - 0.1
-          - 0.2
-          - 0.28
-          - 0.34
-          - 0.4
-      undesired_contacts_completion_rate:
-        enabled: true
-        func: reward_term_weight_by_completion_rate
-        params:
-          reward_term_name: undesired_contacts
-          final_weight: -0.1
-          start_scale: 0.1
-          num_updates: 5
-          cr_thresholds:
-          - 0.1
-          - 0.2
-          - 0.28
-          - 0.34
-          - 0.4
-terminations:
-  time_out:
-    time_out: true
-  ref_gravity_projection_far:
-    params:
-      threshold: 0.8
-      ref_prefix: ${rewards._config.reward_prefix}
-  keybody_ref_z_far:
-    params:
-      threshold: 0.25
-      ref_prefix: ${rewards._config.reward_prefix}
-      keybody_names:
-      - pelvis
-      - left_ankle_roll_link
-      - right_ankle_roll_link
-      - left_wrist_yaw_link
-      - right_wrist_yaw_link
-  keybody_ref_pos_far:
-    params:
-      threshold: 0.25
-      ref_prefix: ${rewards._config.reward_prefix}
-      keybody_names:
-      - pelvis
-obs:
-  context_length: 1
-  n_fut_frames: 10
-  target_fps: 50
-  actor_obs_prefix: ref_
-  critic_obs_prefix: ref_
-  obs_groups:
-    unified:
-      atomic_obs_list:
-      - actor_ref_gravity_projection_cur:
-          func: ref_gravity_projection_cur
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_gravity_projection_cur.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_gravity_projection_cur.n_max}
-      - actor_ref_gravity_projection_fut:
-          func: ref_gravity_projection_fut
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_gravity_projection_fut.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_gravity_projection_fut.n_max}
-      - actor_ref_base_linvel_cur:
-          func: ref_base_linvel_cur
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_base_linvel_cur.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_base_linvel_cur.n_max}
-              n_min_z: ${domain_rand.obs_noise.actor_ref_base_linvel_cur.n_min_z}
-              n_max_z: ${domain_rand.obs_noise.actor_ref_base_linvel_cur.n_max_z}
-      - actor_ref_base_linvel_fut:
-          func: ref_base_linvel_fut
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_base_linvel_fut.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_base_linvel_fut.n_max}
-              n_min_z: ${domain_rand.obs_noise.actor_ref_base_linvel_fut.n_min_z}
-              n_max_z: ${domain_rand.obs_noise.actor_ref_base_linvel_fut.n_max_z}
-      - actor_ref_base_angvel_cur:
-          func: ref_base_angvel_cur
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_base_angvel_cur.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_base_angvel_cur.n_max}
-              n_min_z: ${domain_rand.obs_noise.actor_ref_base_angvel_cur.n_min_z}
-              n_max_z: ${domain_rand.obs_noise.actor_ref_base_angvel_cur.n_max_z}
-      - actor_ref_base_angvel_fut:
-          func: ref_base_angvel_fut
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_base_angvel_fut.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_base_angvel_fut.n_max}
-              n_min_z: ${domain_rand.obs_noise.actor_ref_base_angvel_fut.n_min_z}
-              n_max_z: ${domain_rand.obs_noise.actor_ref_base_angvel_fut.n_max_z}
-      - actor_ref_dof_pos_cur:
-          func: ref_dof_pos_cur
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_dof_pos_cur.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_dof_pos_cur.n_max}
-      - actor_ref_dof_pos_fut:
-          func: ref_dof_pos_fut
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_dof_pos_fut.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_dof_pos_fut.n_max}
-      - actor_ref_motion_filter_cutoff_hz:
-          func: ref_motion_filter_cutoff_hz
-      - actor_ref_root_height_cur:
-          func: ref_root_height_cur
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_root_height_cur.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_root_height_cur.n_max}
-      - actor_ref_root_height_fut:
-          func: ref_root_height_fut
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_root_height_fut.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_root_height_fut.n_max}
-      - actor_ref_keybody_rel_pos_cur:
-          func: ref_keybody_rel_pos_cur
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-            keybody_names:
-            - left_knee_link
-            - right_knee_link
-            - left_ankle_roll_link
-            - right_ankle_roll_link
-            - left_elbow_link
-            - right_elbow_link
-            - left_wrist_yaw_link
-            - right_wrist_yaw_link
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_keybody_rel_pos_cur.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_keybody_rel_pos_cur.n_max}
-      - actor_ref_keybody_rel_pos_fut:
-          func: ref_keybody_rel_pos_fut
-          params:
-            ref_prefix: ${obs.actor_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-            keybody_names:
-            - left_knee_link
-            - right_knee_link
-            - left_ankle_roll_link
-            - right_ankle_roll_link
-            - left_elbow_link
-            - right_elbow_link
-            - left_wrist_yaw_link
-            - right_wrist_yaw_link
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_ref_keybody_rel_pos_fut.n_min}
-              n_max: ${domain_rand.obs_noise.actor_ref_keybody_rel_pos_fut.n_max}
-      - actor_projected_gravity:
-          func: projected_gravity
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_projected_gravity.n_min}
-              n_max: ${domain_rand.obs_noise.actor_projected_gravity.n_max}
-      - actor_rel_robot_root_ang_vel:
-          func: rel_robot_root_ang_vel
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_rel_robot_root_ang_vel.n_min}
-              n_max: ${domain_rand.obs_noise.actor_rel_robot_root_ang_vel.n_max}
-      - actor_dof_pos:
-          func: dof_pos
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_dof_pos.n_min}
-              n_max: ${domain_rand.obs_noise.actor_dof_pos.n_max}
-      - actor_dof_vel:
-          func: dof_vel
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-          noise:
-            type: AdditiveUniformNoiseCfg
-            params:
-              n_min: ${domain_rand.obs_noise.actor_dof_vel.n_min}
-              n_max: ${domain_rand.obs_noise.actor_dof_vel.n_max}
-      - actor_last_action:
-          func: last_action
-          history_length: ${obs.context_length}
-          flatten_history_dim: false
-      - critic_ref_dof_pos_cur:
-          func: ref_dof_pos_cur
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-      - critic_ref_dof_pos_fut:
-          func: ref_dof_pos_fut
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-      - critic_ref_root_height_fut:
-          func: ref_root_height_fut
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-      - critic_ref_root_height_cur:
-          func: ref_root_height_cur
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-      - critic_global_anchor_diff:
-          func: global_anchor_diff
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-      - critic_ref_motion_cur_heading_aligned_root_pos:
-          func: ref_motion_cur_heading_aligned_root_pos
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-      - critic_ref_motion_fut_heading_aligned_root_pos:
-          func: ref_motion_fut_heading_aligned_root_pos
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-      - critic_ref_motion_cur_heading_aligned_root_rot6d:
-          func: ref_motion_cur_heading_aligned_root_rot6d
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-      - critic_ref_motion_fut_heading_aligned_root_rot6d:
-          func: ref_motion_fut_heading_aligned_root_rot6d
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-      - critic_ref_motion_cur_heading_aligned_root_lin_vel:
-          func: ref_motion_cur_heading_aligned_root_lin_vel
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-      - critic_ref_motion_fut_heading_aligned_root_lin_vel:
-          func: ref_motion_fut_heading_aligned_root_lin_vel
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-      - critic_ref_motion_cur_heading_aligned_root_ang_vel:
-          func: ref_motion_cur_heading_aligned_root_ang_vel
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-      - critic_ref_motion_fut_heading_aligned_root_ang_vel:
-          func: ref_motion_fut_heading_aligned_root_ang_vel
-          params:
-            ref_prefix: ${obs.critic_obs_prefix}
-            num_frames: ${obs.n_fut_frames}
-      - critic_rel_robot_root_lin_vel:
-          func: rel_robot_root_lin_vel
-      - critic_rel_robot_root_ang_vel:
-          func: rel_robot_root_ang_vel
-      - critic_global_robot_bodylink_lin_vel_flat:
-          func: global_robot_bodylink_lin_vel_flat
-      - critic_global_robot_bodylink_ang_vel_flat:
-          func: global_robot_bodylink_ang_vel_flat
-      - critic_root_rel_robot_bodylink_pos_flat:
-          func: root_rel_robot_bodylink_pos_flat
-      - critic_root_rel_robot_bodylink_rot_mat_flat:
-          func: root_rel_robot_bodylink_rot_mat_flat
-      - critic_dof_pos:
-          func: dof_pos
-      - critic_dof_vel:
-          func: dof_vel
-      - critic_last_action:
-          func: last_action
-      enable_corruption: true
-      concatenate_terms: false
-rewards:
-  _config:
-    reward_prefix: ref_
-  is_alive:
-    weight: 0.1
-    params: {}
-  root_pos_xy_tracking_exp:
-    weight: 0.0
-    params:
-      std: 0.2
-      ref_prefix: ${rewards._config.reward_prefix}
-  root_rot_tracking_exp:
-    weight: 0.0
-    params:
-      std: 0.4
-      ref_prefix: ${rewards._config.reward_prefix}
-  root_rel_keybodylink_pos_tracking_l2_exp:
-    weight: 1.0
-    params:
-      keybody_names: ${robot.key_bodies}
-      std: 0.3
-      ref_prefix: ${rewards._config.reward_prefix}
-  root_rel_keybodylink_rot_tracking_l2_exp:
-    weight: 1.0
-    params:
-      keybody_names: ${robot.key_bodies}
-      std: 0.4
-      ref_prefix: ${rewards._config.reward_prefix}
-  global_keybodylink_lin_vel_tracking_l2_exp:
-    weight: 1.0
-    params:
-      keybody_names: ${robot.key_bodies}
-      std: 1.0
-      ref_prefix: ${rewards._config.reward_prefix}
-  global_keybodylink_ang_vel_tracking_l2_exp:
-    weight: 1.0
-    params:
-      keybody_names: ${robot.key_bodies}
-      std: 3.14
-      ref_prefix: ${rewards._config.reward_prefix}
-  action_rate_l2:
-    weight: -0.2
-    params: {}
-  joint_acc_l2:
-    weight: -1.0e-06
-    params: {}
-  joint_pos_limits:
-    weight: -10.0
-    params:
-      asset_cfg:
-        _target_: isaaclab.managers.scene_entity_cfg.SceneEntityCfg
-        name: robot
-        joint_names:
-        - .*
-  undesired_contacts:
-    weight: -0.1
-    params:
-      threshold: 1.0
-      sensor_cfg:
-        _target_: isaaclab.managers.scene_entity_cfg.SceneEntityCfg
-        name: contact_forces
-        body_names:
-        - ${robot.undesired_contacts_regrex}
-  root_lin_vel_tracking_rel_ratio_exp:
-    weight: 1.0
-    params:
-      std: 1.0
-      eps: 0.1
-      ref_prefix: ${rewards._config.reward_prefix}
-  root_ang_vel_tracking_rel_ratio_exp:
-    weight: 1.0
-    params:
-      std: 1.0
-      eps: 0.1
-      ref_prefix: ${rewards._config.reward_prefix}
-  local_reward_point_body_pos_tracking_exp:
-    weight: 2.0
-    params:
-      std: 0.1
-      ref_prefix: ${rewards._config.reward_prefix}
-      reward_point_body:
-      - torso_link
-      - left_wrist_yaw_link
-      - right_wrist_yaw_link
-      - left_ankle_roll_link
-      - right_ankle_roll_link
-      reward_point_body_offset:
-      - - 0.0
-        - 0.0
-        - 0.5
-      - - 0.0
-        - 0.0
-        - 0.0
-      - - 0.0
-        - 0.0
-        - 0.0
-      - - 0.0
-        - 0.0
-        - 0.0
-      - - 0.0
-        - 0.0
-        - 0.0
-      point_weights:
-      - 1.0
-      - 1.0
-      - 1.0
-      - 1.0
-      - 1.0
-domain_rand:
-  action_delay:
-    enabled: true
-    min_delay: 0
-    max_delay: 2
-  erfi:
-    enabled: false
-    rfi_probability: 0.5
-    rfi_lim: 0.1
-    randomize_rfi_lim: true
-    rfi_lim_range:
-    - 0.5
-    - 1.5
-    rao_lim: 0.1
-  obs_noise:
-    actor_ref_gravity_projection_cur:
-      n_min: -0.1
-      n_max: 0.1
-    actor_ref_gravity_projection_fut:
-      n_min: -0.1
-      n_max: 0.1
-    actor_ref_base_linvel_cur:
-      n_min: -0.1
-      n_max: 0.1
-      n_min_z: -0.05
-      n_max_z: 0.05
-    actor_ref_base_linvel_fut:
-      n_min: -0.1
-      n_max: 0.1
-      n_min_z: -0.05
-      n_max_z: 0.05
-    actor_ref_base_angvel_cur:
-      n_min: -0.1
-      n_max: 0.1
-      n_min_z: -0.1
-      n_max_z: 0.1
-    actor_ref_base_angvel_fut:
-      n_min: -0.1
-      n_max: 0.1
-      n_min_z: -0.1
-      n_max_z: 0.1
-    actor_ref_dof_pos_cur:
-      n_min: -0.05
-      n_max: 0.05
-    actor_ref_dof_pos_fut:
-      n_min: -0.05
-      n_max: 0.05
-    actor_ref_root_height_cur:
-      n_min: -0.1
-      n_max: 0.1
-    actor_ref_root_height_fut:
-      n_min: -0.1
-      n_max: 0.1
-    actor_ref_keybody_rel_pos_cur:
-      n_min: -0.1
-      n_max: 0.1
-    actor_ref_keybody_rel_pos_fut:
-      n_min: -0.1
-      n_max: 0.1
-    actor_projected_gravity:
-      n_min: -0.1
-      n_max: 0.1
-    actor_rel_robot_root_ang_vel:
-      n_min: -0.2
-      n_max: 0.2
-    actor_dof_pos:
-      n_min: -0.01
-      n_max: 0.01
-    actor_dof_vel:
-      n_min: -0.5
-      n_max: 0.5
-  motion_init_perturb:
-    root_pose_perturb_range:
-      x:
-      - -0.05
-      - 0.05
-      'y':
-      - -0.05
-      - 0.05
-      z:
-      - -0.01
-      - 0.01
-      roll:
-      - -0.1
-      - 0.1
-      pitch:
-      - -0.1
-      - 0.1
-      yaw:
-      - -0.2
-      - 0.2
-    root_vel_perturb_range:
-      x:
-      - -0.5
-      - 0.5
-      'y':
-      - -0.5
-      - 0.5
-      z:
-      - -0.2
-      - 0.2
-      roll:
-      - -0.5
-      - 0.5
-      pitch:
-      - -0.5
-      - 0.5
-      yaw:
-      - -0.2
-      - 0.2
-    dof_pos_perturb_range:
-    - -0.1
-    - 0.1
-    dof_vel_perturb_range:
-    - 0.0
-    - 0.0
-  default_dof_pos_bias:
-    mode: startup
-    params:
-      joint_names:
-      - .*
-      pos_distribution_params:
-      - -0.01
-      - 0.01
-      operation: add
-      distribution: uniform
-  rigid_body_com:
-    mode: startup
-    params:
-      body_names: torso_link
-      com_range:
-        x:
-        - -0.075
-        - 0.075
-        'y':
-        - -0.1
-        - 0.1
-        z:
-        - -0.1
-        - 0.1
-  randomize_mass:
-    mode: startup
-    params:
-      body_names:
-      - pelvis
-      - torso_link
-      mass_range:
-      - -1.0
-      - 2.0
-  rigid_body_material:
-    mode: startup
-    params:
-      body_names: .*
-      static_friction_range:
-      - 0.3
-      - 1.6
-      dynamic_friction_range:
-      - 0.3
-      - 1.2
-      restitution_range:
-      - 0.0
-      - 0.5
-      num_buckets: 64
-  push_by_setting_velocity:
-    mode: interval
-    interval_range_s:
-    - 1.0
-    - 3.0
-    params:
-      velocity_range:
-        x:
-        - -0.5
-        - 0.5
-        'y':
-        - -0.5
-        - 0.5
-        z:
-        - -0.2
-        - 0.2
-        roll:
-        - -0.52
-        - 0.52
-        pitch:
-        - -0.52
-        - 0.52
-        yaw:
-        - -0.78
-        - 0.78
-  randomize_actuator_gains:
-    mode: startup
-    params:
-      asset_name: robot
-      body_names: .*
-      stiffness_distribution_params:
-      - 0.9
-      - 1.1
-      damping_distribution_params:
-      - 0.9
-      - 1.1
-      operation: scale
-      distribution: uniform
-terrain:
-  terrain_type: generator
-  prim_path: /World/ground
-  static_friction: 1.0
-  dynamic_friction: 1.0
-  restitution: 0.0
-  friction_combine_mode: multiply
-  restitution_combine_mode: multiply
-  debug_vis: false
-  max_init_terrain_level: 4
-  random_spawn: true
-  random_spawn_margin: 4.0
-  generator:
-    num_rows: 4
-    num_cols: 4
-    size:
-    - 20.0
-    - 20.0
-    border_width: 1000.0
-    horizontal_scale: 0.1
-    vertical_scale: 0.005
-    slope_threshold: null
-    difficulty_range:
-    - 0.0
-    - 1.0
-    color_scheme: height
-    sub_terrains:
-      rough:
-        type: random_uniform
-        proportion: 1.0
-        noise_range:
-        - 0.0
-        - 0.04
-        noise_step: 0.05
-        downsampled_scale: 1.0
-  visual_material:
-    type: color
-    diffuse_color:
-    - 0.25
-    - 0.25
-    - 0.25
-    metallic: 0.0
-    roughness: 0.5
-modules:
-  actor:
-    type: ReferenceRoutedGroupedMoETransformerPolicy
-    use_checkpointing: false
-    num_fine_experts: 1024
-    num_shared_experts: 1
-    top_k: 2
-    moe_loss_coef: 0.0
-    routing_score_fn: ${algo.config.moe_router.routing_score_fn}
-    routing_scale: ${algo.config.moe_router.routing_scale}
-    use_dynamic_bias: ${algo.config.moe_router.use_dynamic_bias}
-    bias_update_rate: ${algo.config.moe_router.bias_update_rate}
-    expert_bias_clip: ${algo.config.moe_router.expert_bias_clip}
-    obs_embed_mlp_hidden: 2048
-    router_embed_mlp_hidden: 2048
-    d_model: 512
-    n_heads: 8
-    n_kv_heads: 4
-    use_gated_attn: true
-    n_layers: 1
-    ff_mult: 0.5
-    ff_mult_dense: 4
-    attn_dropout: 0.0
-    mlp_dropout: 0.0
-    max_ctx_len: 32
-    aux_sys_id_weight: 0.0
-    aux_dynamics_weight: 0.0
-    obs_norm:
-      enabled: true
-      epsilon: 1.0e-08
-      update_method: ema
-      ema_momentum: 0.0001
-      update_at_train: true
-      update_at_eval: false
-      enable_clipping: true
-      clip_range: 10.0
-      sync_interval_steps: 4
-    obs_schema:
-      flattened_obs:
-        seq_len: ${obs.context_length}
-        terms:
-        - unified/actor_ref_gravity_projection_cur
-        - unified/actor_ref_base_linvel_cur
-        - unified/actor_ref_base_angvel_cur
-        - unified/actor_ref_dof_pos_cur
-        - unified/actor_ref_root_height_cur
-        - unified/actor_projected_gravity
-        - unified/actor_rel_robot_root_ang_vel
-        - unified/actor_dof_pos
-        - unified/actor_dof_vel
-        - unified/actor_last_action
-      flattened_obs_fut:
-        seq_len: ${obs.n_fut_frames}
-        terms:
-        - unified/actor_ref_dof_pos_fut
-        - unified/actor_ref_root_height_fut
-        - unified/actor_ref_gravity_projection_fut
-        - unified/actor_ref_base_linvel_fut
-        - unified/actor_ref_base_angvel_fut
-    output_dim: robot_action_dim
-    dense_layer_at_first: false
-  critic:
-    type: MLP
-    obs_norm:
-      enabled: true
-      epsilon: 1.0e-08
-      update_method: ema
-      ema_momentum: 0.0001
-      update_at_train: true
-      update_at_eval: false
-      enable_clipping: true
-      clip_range: 10.0
-      sync_interval_steps: 4
-    hidden_norm: rmsnorm
-    layer_config:
-      hidden_dims:
-      - 2048
-      - 2048
-      - 2048
-      - 2048
-      activation: SiLU
-    obs_schema:
-      flattened_obs:
-        seq_len: 1
-        terms:
-        - unified/critic_ref_dof_pos_cur
-        - unified/critic_global_anchor_diff
-        - unified/critic_ref_motion_cur_heading_aligned_root_pos
-        - unified/critic_ref_motion_cur_heading_aligned_root_rot6d
-        - unified/critic_ref_motion_cur_heading_aligned_root_lin_vel
-        - unified/critic_ref_motion_cur_heading_aligned_root_ang_vel
-        - unified/critic_rel_robot_root_lin_vel
-        - unified/critic_rel_robot_root_ang_vel
-        - unified/critic_global_robot_bodylink_lin_vel_flat
-        - unified/critic_global_robot_bodylink_ang_vel_flat
-        - unified/critic_root_rel_robot_bodylink_pos_flat
-        - unified/critic_root_rel_robot_bodylink_rot_mat_flat
-        - unified/critic_dof_pos
-        - unified/critic_dof_vel
-        - unified/critic_last_action
-      flattened_obs_fut:
-        seq_len: ${obs.n_fut_frames}
-        terms:
-        - unified/critic_ref_dof_pos_fut
-        - unified/critic_ref_root_height_fut
-        - unified/critic_ref_motion_fut_heading_aligned_root_pos
-        - unified/critic_ref_motion_fut_heading_aligned_root_rot6d
-        - unified/critic_ref_motion_fut_heading_aligned_root_lin_vel
-        - unified/critic_ref_motion_fut_heading_aligned_root_ang_vel
-    output_dim: 1
-train_hdf5_roots:
-- /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_AMASS_GMR
-- /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_LAFAN1_g1_official
-- /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_pico_record_260402
-- /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_MotionMillion_GMR_260402
-- /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_nyt_260410
-- /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_sonic_260430
-mujoco_eval:
-  enabled: true
-  robot_xml_path: assets/robots/unitree/G1/29dof/scene_29dof.xml
-  motion_npz_dir: /horizon-bucket/robot_lab/users/maiyue01.chen/expr_output/HoloMotionMotionTracking/HoloMotionMotrackV1.2/20260216_234025-training/motion_tracking/train_g1_test_h5v2_tf_aidi_8-64_2500h_more_info_beta2_2x8GPUs/isaaclab_eval_output_model_15000_v1.1_eval
-  dump_npzs: true
-  calc_per_clip_metrics: true
-  generate_report: true
-  ray_actors_per_gpu: 16
-  ray_multi_ckpt_mode: split
-  ckpt_onnx_names:
-  - model_2000.onnx
-  - model_4000.onnx
-  - model_6000.onnx
-  - model_8000.onnx
-  - model_10000.onnx

HoloMotion_motion_tracking_model/exported/tracking_model.onnx

@@ -1,3 +0,0 @@
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