Add files using upload-large-folder tool

checkpoint/SONIC/models/pnp_ground/.hydra/.hydra/config.yaml

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+num_gpus: 1
+max_retries: 1
+seed: 0
+codebase_version: 1.0
+headless: true
+num_envs: 2048
+auto_load_latest: false
+checkpoint: null
+project_name: GRAB_Tracking
+experiment_name: ${exp_base}_${exp_var}
+base_dir: logs_rl
+timestamp: ${now:%Y%m%d_%H%M%S}
+experiment_dir: logs_rl/TRL_G1_Track/manager/universal_token/hoi/pnp_ground_pnp_ground_p17_2604301955-20260509_235516
+save_dir: ${experiment_dir}/.hydra
+force_flat_terrain: false
+use_wandb: true
+log_task_name: TEST
+multi_gpu: false
+global_rank: 0
+sim_type: isaacsim
+env_spacing: 20
+output_dir: ${experiment_dir}/output
+eval_overrides:
+  headless: false
+  num_envs: 1
+  auto_load_latest: false
+  use_wandb: false
+algo:
+  trl:
+    dataset_name: dummy
+    output_dir: ./trl
+    learning_rate: ${algo.config.actor_learning_rate}
+    num_total_batches: ${algo.config.num_learning_iterations}
+    total_episodes: null
+    num_ppo_epochs: ${algo.config.num_learning_epochs}
+    num_mini_batches: ${algo.config.num_mini_batches}
+    per_device_train_batch_size: null
+    gradient_accumulation_steps: 1
+    report_to: none
+    gamma: ${algo.config.gamma}
+    lam: ${algo.config.lam}
+    vf_coef: ${algo.config.value_loss_coef}
+    max_grad_norm: ${algo.config.max_grad_norm}
+    lr_scheduler_type: constant
+    save_strategy: 'no'
+    disable_tqdm: true
+  config:
+    actor:
+      _target_: gear_sonic.trl.modules.actor_critic_modules.Actor
+      running_mean_std: false
+      output_original_obs_dict: true
+      has_aux_loss: true
+      backbone:
+        _target_: gear_sonic.trl.modules.base_module.BaseModuleAux
+        process_output_dim: true
+        aux_loss_func:
+          latent_l2:
+            _target_: gear_sonic.trl.losses.token_losses.LatentL2Loss
+            latent_dim: 64
+        aux_loss_coef:
+          latent_l2: 0.1
+        module_config_dict:
+          input_dim:
+          - actor_obs
+          output_dim:
+          - robot_action_dim
+          layer_config:
+            type: MLP
+            hidden_dims:
+            - 512
+            - 256
+            - 128
+            activation: SiLU
+    critic:
+      _target_: gear_sonic.trl.modules.actor_critic_modules.Critic
+      running_mean_std: false
+      backbone:
+        _target_: gear_sonic.trl.modules.base_module.BaseModule
+        process_output_dim: true
+        module_config_dict:
+          type: MLP
+          input_dim:
+          - critic_obs
+          output_dim:
+          - 1
+          layer_config:
+            type: MLP
+            hidden_dims:
+            - 512
+            - 256
+            - 128
+            activation: SiLU
+    num_learning_epochs: 5
+    num_mini_batches: 4
+    clip_param: 0.2
+    gamma: 0.99
+    lam: 0.95
+    value_loss_coef: 1.0
+    entropy_coef: 0.01
+    actor_learning_rate: 2.0e-05
+    critic_learning_rate: 0.001
+    max_grad_norm: 0.1
+    use_clipped_value_loss: true
+    schedule: adaptive
+    desired_kl: 0.01
+    adaptive_lr_min: 1.0e-05
+    adaptive_lr_max: 0.0002
+    use_new_actor_critic: true
+    use_padding_mask: false
+    ppo_shuffle_every_epoch: true
+    sync_advantage_normalization: true
+    empty_cache_every_n_ppo_epoch: -1
+    num_steps_per_env: 24
+    save_interval: 500
+    eval_frequency: 500
+    load_optimizer: true
+    init_noise_std: 0.05
+    num_learning_iterations: 20000
+    init_at_random_ep_len: true
+    global_rank: 0
+    world_size: 1
+    use_clampped_std: true
+    std_clamp_min: 0.001
+    std_clamp_max: 0.5
+  _recursive_: false
+env: ???
+terrain: ???
+callbacks:
+  model_save:
+    _target_: gear_sonic.trl.callbacks.model_save_callback.ModelSaveCallback
+    save_dir: ${experiment_dir}
+    save_frequency: 500
+    max_disk_usage: 14.8
+  wandb:
+    _target_: gear_sonic.trl.callbacks.wandb_callback.WandbCallback
+  read_eval:
+    _target_: gear_sonic.trl.callbacks.read_eval_callback.ReadEvalCallback
+    eval_dir: ${experiment_dir}/eval
+    check_interval: 1
+  im_resample:
+    _target_: gear_sonic.trl.callbacks.im_resample_callback.ImResampleCallback
+    motion_resample_frequency: 250
+trainer:
+  _target_: gear_sonic.trl.trainer.ppo_trainer_aux_loss.TRLAuxLossPPOTrainer
+wandb:
+  wandb_project: null
+  wandb_tags: online
+  wandb_group: pnp_ground_p17_2604301955
+  wandb_id: null
+  wandb_entity: null
+  wandb_dir: /tmp
+manager_env:
+  actions:
+    joint_pos:
+      _target_: isaaclab.envs.mdp.actions.JointPositionActionCfg
+      asset_name: robot
+      joint_names:
+      - .*
+      use_default_offset: true
+    _target_: gear_sonic.envs.manager_env.mdp.actions.ActionsCfg
+  observations:
+    policy:
+      command:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:generated_commands
+        params:
+          command_name: motion
+      motion_anchor_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_pos_b
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.25
+          n_max: 0.25
+      motion_anchor_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      base_lin_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_lin_vel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.2
+          n_max: 0.2
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_rel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.01
+          n_max: 0.01
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_rel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action
+      target_object_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_target_object_pos_in_base_frame
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object
+        noise: null
+      hand_object_transform_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:hand_object_transform_6d
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_frame_transformer
+        noise: null
+      finger_tips_force:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_finger_tips_contact_force
+        params:
+          sensor_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_contact_sensor
+        noise: null
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_b
+        params:
+          command_name: motion
+        noise: null
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_b_6d
+        params:
+          command_name: motion
+        noise: null
+      table_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_pos_b
+        params:
+          command_name: motion
+        noise: null
+      table_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_ori_b
+        params:
+          command_name: motion
+        noise: null
+      object_pos_delta_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_delta_multi_future
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.02
+          n_max: 0.02
+      object_ori_delta_multi_future_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_delta_multi_future_6d
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.02
+          n_max: 0.02
+      command_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+        noise: null
+      motion_anchor_ori_b_mf:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b_mf
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      object_bps:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_bps
+        params:
+          command_name: motion
+        noise: null
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PolicyCfg
+      enable_corruption: false
+      concatenate_terms: true
+    critic:
+      command:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:generated_commands
+        params:
+          command_name: motion
+      motion_anchor_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_pos_b
+        params:
+          command_name: motion
+      motion_anchor_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b
+        params:
+          command_name: motion
+      body_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:robot_body_pos_b
+        params:
+          command_name: motion
+      body_ori:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:robot_body_ori_b
+        params:
+          command_name: motion
+      base_lin_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_lin_vel
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_rel
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_rel
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action
+      target_object_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_target_object_pos_in_base_frame
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object
+      hand_object_transform_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:hand_object_transform_6d
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_frame_transformer
+      finger_tips_force:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_finger_tips_contact_force
+        params:
+          sensor_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_contact_sensor
+      grab_contact_flag:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:grab_contact_flag
+        params:
+          command_name: motion
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_b
+        params:
+          command_name: motion
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_b_6d
+        params:
+          command_name: motion
+      table_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_pos_b
+        params:
+          command_name: motion
+      table_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_ori_b
+        params:
+          command_name: motion
+      object_pos_delta_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_delta_multi_future
+        params:
+          command_name: motion
+      object_ori_delta_multi_future_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_delta_multi_future_6d
+        params:
+          command_name: motion
+      command_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+      motion_anchor_ori_b_mf:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b_mf
+        params:
+          command_name: motion
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PrivilegedCfg
+    tokenizer:
+      encoder_index:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_command_obs
+        params:
+          command_name: motion
+          obs_name: episode_encoder_index
+      command_multi_future_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+          non_flatten: true
+      command_z_multi_future_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_z_multi_future
+        params:
+          command_name: motion
+          non_flatten: true
+      motion_anchor_ori_heading_mf_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_heading_mf
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      command_multi_future_lower_body:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future_lower_body
+        params:
+          command_name: motion
+      vr_3point_local_target:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:vr_3point_local_target
+        params:
+          command_name: motion
+      vr_3point_local_orn_target:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:vr_3point_local_orn_target
+        params:
+          command_name: motion
+      motion_anchor_ori_heading:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_heading
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      command_z:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_z
+        params:
+          command_name: motion
+      smpl_joints_multi_future_local_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:smpl_joints_multi_future_local
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      smpl_root_ori_heading_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:smpl_root_ori_heading_mf
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      joint_pos_multi_future_wrist_for_smpl:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_multi_future_select_joints_for_smpl
+        params:
+          command_name: motion
+          joints_idx:
+          - 23
+          - 24
+          - 25
+          - 26
+          - 27
+          - 28
+      _target_: gear_sonic.envs.manager_env.mdp.observations.TokenizerCfg
+      enable_corruption: false
+      concatenate_terms: false
+    policy_atm:
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.2
+          n_max: 0.2
+      joint_pos_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.01
+          n_max: 0.01
+      joint_vel_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      actions_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_actions_history_length}
+      gravity_dir:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:gravity_dir
+        params:
+          command_name: motion
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PolicyAtmCfg
+      enable_corruption: false
+      concatenate_terms: true
+    _target_: gear_sonic.envs.manager_env.mdp.observations.ObservationsCfg
+  rewards:
+    tracking_anchor_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_anchor_pos_error
+      weight: 0.5
+      params:
+        command_name: motion
+        std: 0.3
+    tracking_anchor_ori:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_anchor_ori_error
+      weight: 2.5
+      params:
+        command_name: motion
+        std: 0.4
+    tracking_relative_body_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_relative_body_pos_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 0.3
+    tracking_relative_body_ori_weighted:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_relative_body_ori_weighted_error
+      weight: 5.0
+      params:
+        command_name: motion
+        std: 0.4
+        body_weights:
+          left_wrist_yaw_link: 1.0
+          right_wrist_yaw_link: 1.0
+    tracking_body_linvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_body_linvel_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 1.0
+    tracking_body_angvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_body_angvel_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 3.14
+    undesired_contacts_no_ankle_hand:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:undesired_contacts
+      weight: -0.1
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: contact_forces
+          body_names:
+          - ^(?!left_ankle_roll_link$)(?!right_ankle_roll_link$)(?!.*hand.*).+$
+        threshold: 1.0
+    hand_table_contact_penalty: null
+    grasp_reward:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp
+      weight: 40.0
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_hand_contact_sensor
+        contact_threshold: 0.1
+        min_contacts: 3
+        hand: right_hand
+        command_name: motion
+    grasp_finger_direction:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp_finger_direction
+      weight: 10.0
+      params:
+        thumb_link: right_hand_thumb_2_link
+        index_link: right_hand_index_1_link
+        middle_link: right_hand_middle_1_link
+        hand: right_hand
+        command_name: motion
+    grasp_contact_center_right:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp_contact_center
+      weight: 0.1
+      params:
+        hand: right_hand
+        command_name: motion
+        exp_coeff: -10.0
+    grasp_reward_left:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp
+      weight: 20.0
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_left_hand_contact_sensor
+        contact_threshold: 0.1
+        min_contacts: 3
+        command_name: motion
+        hand: left_hand
+    grasp_finger_direction_left:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp_finger_direction
+      weight: 5.0
+      params:
+        thumb_link: left_hand_thumb_2_link
+        index_link: left_hand_index_1_link
+        middle_link: left_hand_middle_1_link
+        hand: left_hand
+        command_name: motion
+    grasp_contact_center_left:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp_contact_center
+      weight: 0.05
+      params:
+        hand: left_hand
+        command_name: motion
+        exp_coeff: -10.0
+    finger_primitive_limit:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_finger_primitive_limit
+      weight: -10.0
+      params:
+        mode: discrete
+        action_scale: 1.0
+        discrete_threshold: 0.5
+    object_tracking_reward:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:object_tracking_reward
+      weight: 20
+      params:
+        command_name: motion
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_hand_contact_sensor
+        w_op: 0.5
+        w_or: 0.3
+        w_ov: 0.0
+        w_oav: 0.0
+        pos_exp_coeff: -100.0
+        ori_exp_coeff: -100.0
+        vel_exp_coeff: -5.0
+        ang_vel_exp_coeff: -5.0
+    _target_: gear_sonic.envs.manager_env.mdp.rewards.RewardsCfg
+  terminations:
+    anchor_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_anchor_height
+      params:
+        command_name: motion
+        threshold: 0.25
+        threshold_adaptive: false
+        down_threshold: 0.5
+    anchor_ori_full:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_anchor_ori
+      params:
+        asset_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: robot
+        command_name: motion
+        threshold: 1
+    ee_body_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_body_height
+      params:
+        command_name: motion
+        threshold: 0.25
+        threshold_adaptive: false
+        down_threshold: 0.5
+        body_names:
+        - left_ankle_roll_link
+        - right_ankle_roll_link
+        - left_wrist_yaw_link
+        - right_wrist_yaw_link
+    time_out:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_time_out
+      time_out: true
+      params:
+        command_name: motion
+    object_pos_deviation:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:object_pos_deviation
+      params:
+        command_name: motion
+        threshold: 0.25
+    _target_: gear_sonic.envs.manager_env.mdp.terminations.TerminationsCfg
+    hand_table_contact_termination: null
+    object_z_pos_deviation:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:object_z_pos_deviation
+      params:
+        command_name: motion
+        threshold: 0.3
+    grasp_failure_after_contact:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:GraspFailureAfterContact
+      params:
+        command_name: motion
+        hand: right_hand
+        sensor_name: object_to_hand_contact_sensor
+        contact_threshold: 0.1
+        min_contacts: 3
+        grace_frames: 50
+  commands:
+    motion:
+      _target_: gear_sonic.envs.manager_env.mdp.commands.TrackingCommandCfg
+      asset_name: robot
+      motion_lib_cfg:
+        motion_file: data/motion_lib_genhoi/p017_0309_ha/robot
+        smpl_motion_file: dummy
+        asset:
+          assetRoot: gear_sonic/data/assets/robot_description/mjcf/
+          assetFileName: g1_29dof_rev_1_0.xml
+          urdfFileName: ''
+        extend_config: []
+        target_fps: 50
+        multi_thread: true
+        filter_motion_keys: null
+        adaptive_sampling: null
+        smpl_y_up: true
+        object_motion_file: data/motion_lib_genhoi/p017_0309_ha/objects
+        bps_dir: data/motion_lib_genhoi/p017_0309_ha/bps
+      resampling_time_range:
+      - 1000000000.0
+      - 1000000000.0
+      debug_vis: false
+      dt_future_ref_frames: 0.1
+      num_future_frames: 10
+      pose_range:
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        pitch:
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+      velocity_range:
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        pitch:
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+      joint_position_range:
+      - 0
+      - 0
+      joint_velocity_range:
+      - 0
+      - 0
+      anchor_body: pelvis
+      vr_3point_body:
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+      - torso_link
+      vr_3point_body_offset:
+      - - 0.18
+        - -0.025
+        - 0.0
+      - - 0.18
+        - 0.025
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.35
+      reward_point_body:
+      - pelvis
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+      - left_ankle_roll_link
+      - right_ankle_roll_link
+      reward_point_body_offset:
+      - - 0.0
+        - 0.0
+        - 0.0
+      - - 0.18
+        - -0.025
+        - 0.0
+      - - 0.18
+        - 0.025
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.0
+      body_names:
+      - pelvis
+      - left_hip_roll_link
+      - left_knee_link
+      - left_ankle_roll_link
+      - right_hip_roll_link
+      - right_knee_link
+      - right_ankle_roll_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
+      motion_lib_num_dof: 29
+      hand_default_positions:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      smpl_num_future_frames: 10
+      smpl_dt_future_ref_frames: 0.02
+      use_paired_motions: true
+      start_from_first_frame: false
+      sample_before_contact: true
+      sample_before_contact_margin: 10
+      sample_before_contact_hand: right_hand
+      object_position_randomize: false
+      encoder_sample_probs:
+        g1: 1.0
+        teleop: 0.0
+        smpl: 0.0
+    _target_: gear_sonic.envs.manager_env.mdp.commands.CommandsCfg
+  events:
+    _target_: gear_sonic.envs.manager_env.mdp.events.EventCfg
+  curriculum:
+    _target_: gear_sonic.envs.manager_env.mdp.curriculum.CurriculumCfg
+  recorders:
+    _target_: gear_sonic.envs.manager_env.mdp.recorders.RecordersCfg
+  _target_: gear_sonic.envs.manager_env.modular_tracking_env_cfg.ModularTrackingEnvCfg
+  config:
+    num_envs: ${num_envs}
+    env_spacing: 10.0
+    decimation: 4
+    episode_length_s: 10.0
+    sim_dt: 0.005
+    viewer_eye:
+    - 4.5
+    - 0.0
+    - 6.0
+    viewer_lookat:
+    - 0.0
+    - 0.0
+    - 2.0
+    render_results: false
+    save_rendering_dir: ${experiment_dir}/renderings_training
+    experiment_dir: ${experiment_dir}
+    terrain_type: plane
+    object_mass: 0.1
+    table_offset: null
+    eval_camera_offset:
+    - 2
+    - -2
+    - 1
+    action_transform_module_cfg: models/sonic_sm_3pt_heading_hh-20260203_131215/model_config.yaml
+    action_transform_module_checkpoint: models/sonic_sm_3pt_heading_hh-20260203_131215/model_step_092000.pt
+    meta_action_dim: 66
+    needs_policy_atm: true
+    obs:
+      obs_dict: {}
+      obs_dims: {}
+      group_obs_dims: {}
+      group_obs_names: {}
+    action_clip_value: 20.0
+    robot:
+      type: g1_43dof
+      algo_obs_dim_dict: {}
+    rewards:
+      num_critics: 1
+    train_only_events:
+    - push_robot
+    - compliance_force_push
+    safe_nan: true
+    gpu_collision_stack_size_exp: 30
+    add_object: true
+    object_is_dynamic: true
+    add_table: false
+    lift_contact_force_threshold: 0.1
+    scene_scale: null
+    use_motion_hand_actions: false
+    use_finger_primitive: true
+    motion_meta_info_path: null
+    use_latent_residual: true
+    latent_residual_mode: pre_quantization
+    latent_residual_scale: 0.1
+    tokenizer_action_dim: 64
+    hand_action_dim: 2
+    finger_primitive:
+      primitive_action_map:
+        left:
+          dof_names:
+          - left_hand_index_0_joint
+          - left_hand_index_1_joint
+          - left_hand_middle_0_joint
+          - left_hand_middle_1_joint
+          - left_hand_thumb_0_joint
+          - left_hand_thumb_1_joint
+          - left_hand_thumb_2_joint
+          pos_0:
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          pos_1:
+          - -1.42857143
+          - -2.14285714
+          - -1.42857143
+          - -2.14285714
+          - 0.0
+          - 1.0
+          - 1.0
+          discrete: true
+        right:
+          dof_names:
+          - right_hand_index_0_joint
+          - right_hand_index_1_joint
+          - right_hand_middle_0_joint
+          - right_hand_middle_1_joint
+          - right_hand_thumb_0_joint
+          - right_hand_thumb_1_joint
+          - right_hand_thumb_2_joint
+          pos_0:
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          pos_1:
+          - 1.42857143
+          - 2.14285714
+          - 1.42857143
+          - 2.14285714
+          - 0.0
+          - -1.0
+          - -1.0
+          discrete: true
+    use_staged_wrapper: false
+    object_usd_path: data/motion_lib_genhoi/p017_0309_ha/object_usd
+use_manager_env: true
+exp_base: ${hydra:runtime.choices.exp}
+motion_shard_by_rank: true
+exp_var: pnp_ground_p17_2604301955
+actor_prop_history_length: 10
+actor_actions_history_length: 10
+critic_prop_history_length: 10
+critic_actions_history_length: 10

checkpoint/SONIC/models/pnp_ground/config.yaml

@@ -0,0 +1,1047 @@
+num_gpus: 1
+max_retries: 1
+seed: 0
+codebase_version: 1.0
+headless: true
+num_envs: 2048
+auto_load_latest: false
+checkpoint: null
+project_name: GRAB_Tracking
+experiment_name: ${exp_base}_${exp_var}
+base_dir: logs_rl
+timestamp: ${now:%Y%m%d_%H%M%S}
+experiment_dir: logs_rl/TRL_G1_Track/manager/universal_token/hoi/pnp_ground_pnp_ground_p17_2604301955-20260509_235516
+save_dir: ${experiment_dir}/.hydra
+force_flat_terrain: false
+use_wandb: true
+log_task_name: TEST
+multi_gpu: true
+global_rank: 0
+sim_type: isaacsim
+env_spacing: 20
+output_dir: ${experiment_dir}/output
+eval_overrides:
+  headless: false
+  num_envs: 1
+  auto_load_latest: false
+  use_wandb: false
+algo:
+  trl:
+    dataset_name: dummy
+    output_dir: logs_rl/TRL_G1_Track/manager/universal_token/hoi/pnp_ground_pnp_ground_p17_2604301955-20260509_235516
+    learning_rate: ${algo.config.actor_learning_rate}
+    num_total_batches: ${algo.config.num_learning_iterations}
+    total_episodes: null
+    num_ppo_epochs: ${algo.config.num_learning_epochs}
+    num_mini_batches: ${algo.config.num_mini_batches}
+    per_device_train_batch_size: null
+    gradient_accumulation_steps: 1
+    report_to: none
+    gamma: ${algo.config.gamma}
+    lam: ${algo.config.lam}
+    vf_coef: ${algo.config.value_loss_coef}
+    max_grad_norm: ${algo.config.max_grad_norm}
+    lr_scheduler_type: constant
+    save_strategy: 'no'
+    disable_tqdm: true
+  config:
+    actor:
+      _target_: gear_sonic.trl.modules.actor_critic_modules.Actor
+      running_mean_std: false
+      output_original_obs_dict: true
+      has_aux_loss: true
+      backbone:
+        _target_: gear_sonic.trl.modules.base_module.BaseModuleAux
+        process_output_dim: true
+        aux_loss_func:
+          latent_l2:
+            _target_: gear_sonic.trl.losses.token_losses.LatentL2Loss
+            latent_dim: 64
+        aux_loss_coef:
+          latent_l2: 0.1
+        module_config_dict:
+          input_dim:
+          - actor_obs
+          output_dim:
+          - robot_action_dim
+          layer_config:
+            type: MLP
+            hidden_dims:
+            - 512
+            - 256
+            - 128
+            activation: SiLU
+    critic:
+      _target_: gear_sonic.trl.modules.actor_critic_modules.Critic
+      running_mean_std: false
+      backbone:
+        _target_: gear_sonic.trl.modules.base_module.BaseModule
+        process_output_dim: true
+        module_config_dict:
+          type: MLP
+          input_dim:
+          - critic_obs
+          output_dim:
+          - 1
+          layer_config:
+            type: MLP
+            hidden_dims:
+            - 512
+            - 256
+            - 128
+            activation: SiLU
+    num_learning_epochs: 5
+    num_mini_batches: 4
+    clip_param: 0.2
+    gamma: 0.99
+    lam: 0.95
+    value_loss_coef: 1.0
+    entropy_coef: 0.01
+    actor_learning_rate: 2.0e-05
+    critic_learning_rate: 0.001
+    max_grad_norm: 0.1
+    use_clipped_value_loss: true
+    schedule: adaptive
+    desired_kl: 0.01
+    adaptive_lr_min: 1.0e-05
+    adaptive_lr_max: 0.0002
+    use_new_actor_critic: true
+    use_padding_mask: false
+    ppo_shuffle_every_epoch: true
+    sync_advantage_normalization: true
+    empty_cache_every_n_ppo_epoch: -1
+    num_steps_per_env: 24
+    save_interval: 500
+    eval_frequency: 500
+    load_optimizer: true
+    init_noise_std: 0.05
+    num_learning_iterations: 20000
+    init_at_random_ep_len: true
+    global_rank: 0
+    world_size: 32
+    use_clampped_std: true
+    std_clamp_min: 0.001
+    std_clamp_max: 0.5
+  _recursive_: false
+env: ???
+terrain: ???
+callbacks:
+  model_save:
+    _target_: gear_sonic.trl.callbacks.model_save_callback.ModelSaveCallback
+    save_dir: ${experiment_dir}
+    save_frequency: 500
+    max_disk_usage: 14.8
+  wandb:
+    _target_: gear_sonic.trl.callbacks.wandb_callback.WandbCallback
+  read_eval:
+    _target_: gear_sonic.trl.callbacks.read_eval_callback.ReadEvalCallback
+    eval_dir: ${experiment_dir}/eval
+    check_interval: 1
+  im_resample:
+    _target_: gear_sonic.trl.callbacks.im_resample_callback.ImResampleCallback
+    motion_resample_frequency: 250
+trainer:
+  _target_: gear_sonic.trl.trainer.ppo_trainer_aux_loss.TRLAuxLossPPOTrainer
+wandb:
+  wandb_project: null
+  wandb_tags: online
+  wandb_group: pnp_ground_p17_2604301955
+  wandb_id: null
+  wandb_entity: null
+  wandb_dir: /tmp
+manager_env:
+  actions:
+    joint_pos:
+      _target_: isaaclab.envs.mdp.actions.JointPositionActionCfg
+      asset_name: robot
+      joint_names:
+      - .*
+      use_default_offset: true
+    _target_: gear_sonic.envs.manager_env.mdp.actions.ActionsCfg
+  observations:
+    policy:
+      command:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:generated_commands
+        params:
+          command_name: motion
+      motion_anchor_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_pos_b
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.25
+          n_max: 0.25
+      motion_anchor_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      base_lin_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_lin_vel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.2
+          n_max: 0.2
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_rel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.01
+          n_max: 0.01
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_rel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action
+      target_object_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_target_object_pos_in_base_frame
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object
+        noise: null
+      hand_object_transform_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:hand_object_transform_6d
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_frame_transformer
+        noise: null
+      finger_tips_force:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_finger_tips_contact_force
+        params:
+          sensor_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_contact_sensor
+        noise: null
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_b
+        params:
+          command_name: motion
+        noise: null
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_b_6d
+        params:
+          command_name: motion
+        noise: null
+      table_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_pos_b
+        params:
+          command_name: motion
+        noise: null
+      table_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_ori_b
+        params:
+          command_name: motion
+        noise: null
+      object_pos_delta_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_delta_multi_future
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.02
+          n_max: 0.02
+      object_ori_delta_multi_future_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_delta_multi_future_6d
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.02
+          n_max: 0.02
+      command_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+        noise: null
+      motion_anchor_ori_b_mf:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b_mf
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      object_bps:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_bps
+        params:
+          command_name: motion
+        noise: null
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PolicyCfg
+      enable_corruption: false
+      concatenate_terms: true
+    critic:
+      command:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:generated_commands
+        params:
+          command_name: motion
+      motion_anchor_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_pos_b
+        params:
+          command_name: motion
+      motion_anchor_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b
+        params:
+          command_name: motion
+      body_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:robot_body_pos_b
+        params:
+          command_name: motion
+      body_ori:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:robot_body_ori_b
+        params:
+          command_name: motion
+      base_lin_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_lin_vel
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_rel
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_rel
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action
+      target_object_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_target_object_pos_in_base_frame
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object
+      hand_object_transform_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:hand_object_transform_6d
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_frame_transformer
+      finger_tips_force:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_finger_tips_contact_force
+        params:
+          sensor_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_contact_sensor
+      grab_contact_flag:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:grab_contact_flag
+        params:
+          command_name: motion
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_b
+        params:
+          command_name: motion
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_b_6d
+        params:
+          command_name: motion
+      table_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_pos_b
+        params:
+          command_name: motion
+      table_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_ori_b
+        params:
+          command_name: motion
+      object_pos_delta_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_delta_multi_future
+        params:
+          command_name: motion
+      object_ori_delta_multi_future_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_delta_multi_future_6d
+        params:
+          command_name: motion
+      command_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+      motion_anchor_ori_b_mf:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b_mf
+        params:
+          command_name: motion
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PrivilegedCfg
+    tokenizer:
+      encoder_index:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_command_obs
+        params:
+          command_name: motion
+          obs_name: episode_encoder_index
+      command_multi_future_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+          non_flatten: true
+      command_z_multi_future_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_z_multi_future
+        params:
+          command_name: motion
+          non_flatten: true
+      motion_anchor_ori_heading_mf_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_heading_mf
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      command_multi_future_lower_body:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future_lower_body
+        params:
+          command_name: motion
+      vr_3point_local_target:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:vr_3point_local_target
+        params:
+          command_name: motion
+      vr_3point_local_orn_target:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:vr_3point_local_orn_target
+        params:
+          command_name: motion
+      motion_anchor_ori_heading:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_heading
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      command_z:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_z
+        params:
+          command_name: motion
+      smpl_joints_multi_future_local_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:smpl_joints_multi_future_local
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      smpl_root_ori_heading_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:smpl_root_ori_heading_mf
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      joint_pos_multi_future_wrist_for_smpl:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_multi_future_select_joints_for_smpl
+        params:
+          command_name: motion
+          joints_idx:
+          - 23
+          - 24
+          - 25
+          - 26
+          - 27
+          - 28
+      _target_: gear_sonic.envs.manager_env.mdp.observations.TokenizerCfg
+      enable_corruption: false
+      concatenate_terms: false
+    policy_atm:
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.2
+          n_max: 0.2
+      joint_pos_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.01
+          n_max: 0.01
+      joint_vel_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      actions_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_actions_history_length}
+      gravity_dir:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:gravity_dir
+        params:
+          command_name: motion
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PolicyAtmCfg
+      enable_corruption: false
+      concatenate_terms: true
+    _target_: gear_sonic.envs.manager_env.mdp.observations.ObservationsCfg
+  rewards:
+    tracking_anchor_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_anchor_pos_error
+      weight: 0.5
+      params:
+        command_name: motion
+        std: 0.3
+    tracking_anchor_ori:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_anchor_ori_error
+      weight: 2.5
+      params:
+        command_name: motion
+        std: 0.4
+    tracking_relative_body_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_relative_body_pos_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 0.3
+    tracking_relative_body_ori_weighted:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_relative_body_ori_weighted_error
+      weight: 5.0
+      params:
+        command_name: motion
+        std: 0.4
+        body_weights:
+          left_wrist_yaw_link: 1.0
+          right_wrist_yaw_link: 1.0
+    tracking_body_linvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_body_linvel_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 1.0
+    tracking_body_angvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_body_angvel_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 3.14
+    undesired_contacts_no_ankle_hand:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:undesired_contacts
+      weight: -0.1
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: contact_forces
+          body_names:
+          - ^(?!left_ankle_roll_link$)(?!right_ankle_roll_link$)(?!.*hand.*).+$
+        threshold: 1.0
+    hand_table_contact_penalty: null
+    grasp_reward:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp
+      weight: 40.0
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_hand_contact_sensor
+        contact_threshold: 0.1
+        min_contacts: 3
+        hand: right_hand
+        command_name: motion
+    grasp_finger_direction:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp_finger_direction
+      weight: 10.0
+      params:
+        thumb_link: right_hand_thumb_2_link
+        index_link: right_hand_index_1_link
+        middle_link: right_hand_middle_1_link
+        hand: right_hand
+        command_name: motion
+    grasp_contact_center_right:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp_contact_center
+      weight: 0.1
+      params:
+        hand: right_hand
+        command_name: motion
+        exp_coeff: -10.0
+    grasp_reward_left:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp
+      weight: 20.0
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_left_hand_contact_sensor
+        contact_threshold: 0.1
+        min_contacts: 3
+        command_name: motion
+        hand: left_hand
+    grasp_finger_direction_left:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp_finger_direction
+      weight: 5.0
+      params:
+        thumb_link: left_hand_thumb_2_link
+        index_link: left_hand_index_1_link
+        middle_link: left_hand_middle_1_link
+        hand: left_hand
+        command_name: motion
+    grasp_contact_center_left:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp_contact_center
+      weight: 0.05
+      params:
+        hand: left_hand
+        command_name: motion
+        exp_coeff: -10.0
+    finger_primitive_limit:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_finger_primitive_limit
+      weight: -10.0
+      params:
+        mode: discrete
+        action_scale: 1.0
+        discrete_threshold: 0.5
+    object_tracking_reward:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:object_tracking_reward
+      weight: 20
+      params:
+        command_name: motion
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_hand_contact_sensor
+        w_op: 0.5
+        w_or: 0.3
+        w_ov: 0.0
+        w_oav: 0.0
+        pos_exp_coeff: -100.0
+        ori_exp_coeff: -100.0
+        vel_exp_coeff: -5.0
+        ang_vel_exp_coeff: -5.0
+    _target_: gear_sonic.envs.manager_env.mdp.rewards.RewardsCfg
+  terminations:
+    anchor_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_anchor_height
+      params:
+        command_name: motion
+        threshold: 0.25
+        threshold_adaptive: false
+        down_threshold: 0.5
+    anchor_ori_full:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_anchor_ori
+      params:
+        asset_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: robot
+        command_name: motion
+        threshold: 1
+    ee_body_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_body_height
+      params:
+        command_name: motion
+        threshold: 0.25
+        threshold_adaptive: false
+        down_threshold: 0.5
+        body_names:
+        - left_ankle_roll_link
+        - right_ankle_roll_link
+        - left_wrist_yaw_link
+        - right_wrist_yaw_link
+    time_out:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_time_out
+      time_out: true
+      params:
+        command_name: motion
+    object_pos_deviation:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:object_pos_deviation
+      params:
+        command_name: motion
+        threshold: 0.25
+    _target_: gear_sonic.envs.manager_env.mdp.terminations.TerminationsCfg
+    hand_table_contact_termination: null
+    object_z_pos_deviation:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:object_z_pos_deviation
+      params:
+        command_name: motion
+        threshold: 0.3
+    grasp_failure_after_contact:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:GraspFailureAfterContact
+      params:
+        command_name: motion
+        hand: right_hand
+        sensor_name: object_to_hand_contact_sensor
+        contact_threshold: 0.1
+        min_contacts: 3
+        grace_frames: 50
+  commands:
+    motion:
+      _target_: gear_sonic.envs.manager_env.mdp.commands.TrackingCommandCfg
+      asset_name: robot
+      motion_lib_cfg:
+        motion_file: data/motion_lib_genhoi/p017_0309_ha/robot
+        smpl_motion_file: dummy
+        asset:
+          assetRoot: gear_sonic/data/assets/robot_description/mjcf/
+          assetFileName: g1_29dof_rev_1_0.xml
+          urdfFileName: ''
+        extend_config: []
+        target_fps: 50
+        multi_thread: true
+        filter_motion_keys: null
+        adaptive_sampling: null
+        smpl_y_up: true
+        object_motion_file: data/motion_lib_genhoi/p017_0309_ha/objects
+        bps_dir: data/motion_lib_genhoi/p017_0309_ha/bps
+        motion_shard_rank: 0
+        motion_shard_world_size: 32
+      resampling_time_range:
+      - 1000000000.0
+      - 1000000000.0
+      debug_vis: false
+      dt_future_ref_frames: 0.1
+      num_future_frames: 10
+      pose_range:
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        pitch:
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+      velocity_range:
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        pitch:
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+      joint_position_range:
+      - 0
+      - 0
+      joint_velocity_range:
+      - 0
+      - 0
+      anchor_body: pelvis
+      vr_3point_body:
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+      - torso_link
+      vr_3point_body_offset:
+      - - 0.18
+        - -0.025
+        - 0.0
+      - - 0.18
+        - 0.025
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.35
+      reward_point_body:
+      - pelvis
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+      - left_ankle_roll_link
+      - right_ankle_roll_link
+      reward_point_body_offset:
+      - - 0.0
+        - 0.0
+        - 0.0
+      - - 0.18
+        - -0.025
+        - 0.0
+      - - 0.18
+        - 0.025
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.0
+      body_names:
+      - pelvis
+      - left_hip_roll_link
+      - left_knee_link
+      - left_ankle_roll_link
+      - right_hip_roll_link
+      - right_knee_link
+      - right_ankle_roll_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
+      motion_lib_num_dof: 29
+      hand_default_positions:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      smpl_num_future_frames: 10
+      smpl_dt_future_ref_frames: 0.02
+      use_paired_motions: true
+      start_from_first_frame: false
+      sample_before_contact: true
+      sample_before_contact_margin: 10
+      sample_before_contact_hand: right_hand
+      object_position_randomize: false
+      encoder_sample_probs:
+        g1: 1.0
+        teleop: 0.0
+        smpl: 0.0
+    _target_: gear_sonic.envs.manager_env.mdp.commands.CommandsCfg
+  events:
+    _target_: gear_sonic.envs.manager_env.mdp.events.EventCfg
+  curriculum:
+    _target_: gear_sonic.envs.manager_env.mdp.curriculum.CurriculumCfg
+  recorders:
+    _target_: gear_sonic.envs.manager_env.mdp.recorders.RecordersCfg
+  _target_: gear_sonic.envs.manager_env.modular_tracking_env_cfg.ModularTrackingEnvCfg
+  config:
+    num_envs: ${num_envs}
+    env_spacing: 10.0
+    decimation: 4
+    episode_length_s: 10.0
+    sim_dt: 0.005
+    viewer_eye:
+    - 4.5
+    - 0.0
+    - 6.0
+    viewer_lookat:
+    - 0.0
+    - 0.0
+    - 2.0
+    render_results: false
+    save_rendering_dir: ${experiment_dir}/renderings_training
+    experiment_dir: ${experiment_dir}
+    terrain_type: plane
+    object_mass: 0.1
+    table_offset: null
+    eval_camera_offset:
+    - 2
+    - -2
+    - 1
+    action_transform_module_cfg: models/sonic_sm_3pt_heading_hh-20260203_131215/model_config.yaml
+    action_transform_module_checkpoint: models/sonic_sm_3pt_heading_hh-20260203_131215/model_step_092000.pt
+    meta_action_dim: 66
+    needs_policy_atm: true
+    obs:
+      obs_dict: {}
+      obs_dims: {}
+      group_obs_dims: {}
+      group_obs_names: {}
+    action_clip_value: 20.0
+    robot:
+      type: g1_43dof
+      algo_obs_dim_dict: {}
+    rewards:
+      num_critics: 1
+    train_only_events:
+    - push_robot
+    - compliance_force_push
+    safe_nan: true
+    gpu_collision_stack_size_exp: 30
+    add_object: true
+    object_is_dynamic: true
+    add_table: false
+    lift_contact_force_threshold: 0.1
+    scene_scale: null
+    use_motion_hand_actions: false
+    use_finger_primitive: true
+    motion_meta_info_path: null
+    use_latent_residual: true
+    latent_residual_mode: pre_quantization
+    latent_residual_scale: 0.1
+    tokenizer_action_dim: 64
+    hand_action_dim: 2
+    finger_primitive:
+      primitive_action_map:
+        left:
+          dof_names:
+          - left_hand_index_0_joint
+          - left_hand_index_1_joint
+          - left_hand_middle_0_joint
+          - left_hand_middle_1_joint
+          - left_hand_thumb_0_joint
+          - left_hand_thumb_1_joint
+          - left_hand_thumb_2_joint
+          pos_0:
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          pos_1:
+          - -1.42857143
+          - -2.14285714
+          - -1.42857143
+          - -2.14285714
+          - 0.0
+          - 1.0
+          - 1.0
+          discrete: true
+        right:
+          dof_names:
+          - right_hand_index_0_joint
+          - right_hand_index_1_joint
+          - right_hand_middle_0_joint
+          - right_hand_middle_1_joint
+          - right_hand_thumb_0_joint
+          - right_hand_thumb_1_joint
+          - right_hand_thumb_2_joint
+          pos_0:
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          pos_1:
+          - 1.42857143
+          - 2.14285714
+          - 1.42857143
+          - 2.14285714
+          - 0.0
+          - -1.0
+          - -1.0
+          discrete: true
+    use_staged_wrapper: false
+    object_usd_path: data/motion_lib_genhoi/p017_0309_ha/object_usd
+use_manager_env: true
+exp_base: ${hydra:runtime.choices.exp}
+motion_shard_by_rank: true
+exp_var: pnp_ground_p17_2604301955
+actor_prop_history_length: 10
+actor_actions_history_length: 10
+critic_prop_history_length: 10
+critic_actions_history_length: 10

checkpoint/SONIC/models/pnp_ground/last.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5df387167af8670649bf1fbb0626f69db3365c5097fe05c46f22b56a5bc5ec6d
+size 16919013

checkpoint/SONIC/models/pnp_table/.hydra/.hydra/config.yaml

@@ -0,0 +1,1052 @@
+num_gpus: 1
+max_retries: 1
+seed: 0
+codebase_version: 1.0
+headless: true
+num_envs: 2048
+auto_load_latest: false
+checkpoint: null
+project_name: GRAB_Tracking
+experiment_name: ${exp_base}_${exp_var}
+base_dir: logs_rl
+timestamp: ${now:%Y%m%d_%H%M%S}
+experiment_dir: logs_rl/TRL_G1_Track/manager/universal_token/hoi/pnp_table_pnp_table_p19_2604301955-20260509_235602
+save_dir: ${experiment_dir}/.hydra
+force_flat_terrain: false
+use_wandb: true
+log_task_name: TEST
+multi_gpu: false
+global_rank: 0
+sim_type: isaacsim
+env_spacing: 20
+output_dir: ${experiment_dir}/output
+eval_overrides:
+  headless: false
+  num_envs: 1
+  auto_load_latest: false
+  use_wandb: false
+algo:
+  trl:
+    dataset_name: dummy
+    output_dir: ./trl
+    learning_rate: ${algo.config.actor_learning_rate}
+    num_total_batches: ${algo.config.num_learning_iterations}
+    total_episodes: null
+    num_ppo_epochs: ${algo.config.num_learning_epochs}
+    num_mini_batches: ${algo.config.num_mini_batches}
+    per_device_train_batch_size: null
+    gradient_accumulation_steps: 1
+    report_to: none
+    gamma: ${algo.config.gamma}
+    lam: ${algo.config.lam}
+    vf_coef: ${algo.config.value_loss_coef}
+    max_grad_norm: ${algo.config.max_grad_norm}
+    lr_scheduler_type: constant
+    save_strategy: 'no'
+    disable_tqdm: true
+  config:
+    actor:
+      _target_: gear_sonic.trl.modules.actor_critic_modules.Actor
+      running_mean_std: false
+      output_original_obs_dict: true
+      has_aux_loss: true
+      backbone:
+        _target_: gear_sonic.trl.modules.base_module.BaseModuleAux
+        process_output_dim: true
+        aux_loss_func:
+          latent_l2:
+            _target_: gear_sonic.trl.losses.token_losses.LatentL2Loss
+            latent_dim: 64
+        aux_loss_coef:
+          latent_l2: 0.1
+        module_config_dict:
+          input_dim:
+          - actor_obs
+          output_dim:
+          - robot_action_dim
+          layer_config:
+            type: MLP
+            hidden_dims:
+            - 512
+            - 256
+            - 128
+            activation: SiLU
+    critic:
+      _target_: gear_sonic.trl.modules.actor_critic_modules.Critic
+      running_mean_std: false
+      backbone:
+        _target_: gear_sonic.trl.modules.base_module.BaseModule
+        process_output_dim: true
+        module_config_dict:
+          type: MLP
+          input_dim:
+          - critic_obs
+          output_dim:
+          - 1
+          layer_config:
+            type: MLP
+            hidden_dims:
+            - 512
+            - 256
+            - 128
+            activation: SiLU
+    num_learning_epochs: 5
+    num_mini_batches: 4
+    clip_param: 0.2
+    gamma: 0.99
+    lam: 0.95
+    value_loss_coef: 1.0
+    entropy_coef: 0.01
+    actor_learning_rate: 2.0e-05
+    critic_learning_rate: 0.001
+    max_grad_norm: 0.1
+    use_clipped_value_loss: true
+    schedule: adaptive
+    desired_kl: 0.01
+    adaptive_lr_min: 1.0e-05
+    adaptive_lr_max: 0.0002
+    use_new_actor_critic: true
+    use_padding_mask: false
+    ppo_shuffle_every_epoch: true
+    sync_advantage_normalization: true
+    empty_cache_every_n_ppo_epoch: -1
+    num_steps_per_env: 24
+    save_interval: 500
+    eval_frequency: 500
+    load_optimizer: true
+    init_noise_std: 0.05
+    num_learning_iterations: 20000
+    init_at_random_ep_len: true
+    global_rank: 0
+    world_size: 1
+    use_clampped_std: true
+    std_clamp_min: 0.001
+    std_clamp_max: 0.5
+  _recursive_: false
+env: ???
+terrain: ???
+callbacks:
+  model_save:
+    _target_: gear_sonic.trl.callbacks.model_save_callback.ModelSaveCallback
+    save_dir: ${experiment_dir}
+    save_frequency: 500
+    max_disk_usage: 14.8
+  wandb:
+    _target_: gear_sonic.trl.callbacks.wandb_callback.WandbCallback
+  read_eval:
+    _target_: gear_sonic.trl.callbacks.read_eval_callback.ReadEvalCallback
+    eval_dir: ${experiment_dir}/eval
+    check_interval: 1
+  im_resample:
+    _target_: gear_sonic.trl.callbacks.im_resample_callback.ImResampleCallback
+    motion_resample_frequency: 250
+trainer:
+  _target_: gear_sonic.trl.trainer.ppo_trainer_aux_loss.TRLAuxLossPPOTrainer
+wandb:
+  wandb_project: null
+  wandb_tags: online
+  wandb_group: pnp_table_p19_2604301955
+  wandb_id: null
+  wandb_entity: null
+  wandb_dir: /tmp
+manager_env:
+  actions:
+    joint_pos:
+      _target_: isaaclab.envs.mdp.actions.JointPositionActionCfg
+      asset_name: robot
+      joint_names:
+      - .*
+      use_default_offset: true
+    _target_: gear_sonic.envs.manager_env.mdp.actions.ActionsCfg
+  observations:
+    policy:
+      command:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:generated_commands
+        params:
+          command_name: motion
+      motion_anchor_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_pos_b
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.25
+          n_max: 0.25
+      motion_anchor_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      base_lin_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_lin_vel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.2
+          n_max: 0.2
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_rel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.01
+          n_max: 0.01
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_rel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action
+      target_object_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_target_object_pos_in_base_frame
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object
+        noise: null
+      hand_object_transform_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:hand_object_transform_6d
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_frame_transformer
+        noise: null
+      finger_tips_force:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_finger_tips_contact_force
+        params:
+          sensor_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_contact_sensor
+        noise: null
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_b
+        params:
+          command_name: motion
+        noise: null
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_b_6d
+        params:
+          command_name: motion
+        noise: null
+      table_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_pos_b
+        params:
+          command_name: motion
+        noise: null
+      table_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_ori_b
+        params:
+          command_name: motion
+        noise: null
+      object_pos_delta_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_delta_multi_future
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.02
+          n_max: 0.02
+      object_ori_delta_multi_future_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_delta_multi_future_6d
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.02
+          n_max: 0.02
+      command_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+        noise: null
+      motion_anchor_ori_b_mf:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b_mf
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      object_bps:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_bps
+        params:
+          command_name: motion
+        noise: null
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PolicyCfg
+      enable_corruption: false
+      concatenate_terms: true
+    critic:
+      command:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:generated_commands
+        params:
+          command_name: motion
+      motion_anchor_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_pos_b
+        params:
+          command_name: motion
+      motion_anchor_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b
+        params:
+          command_name: motion
+      body_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:robot_body_pos_b
+        params:
+          command_name: motion
+      body_ori:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:robot_body_ori_b
+        params:
+          command_name: motion
+      base_lin_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_lin_vel
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_rel
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_rel
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action
+      target_object_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_target_object_pos_in_base_frame
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object
+      hand_object_transform_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:hand_object_transform_6d
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_frame_transformer
+      finger_tips_force:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_finger_tips_contact_force
+        params:
+          sensor_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_contact_sensor
+      grab_contact_flag:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:grab_contact_flag
+        params:
+          command_name: motion
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_b
+        params:
+          command_name: motion
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_b_6d
+        params:
+          command_name: motion
+      table_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_pos_b
+        params:
+          command_name: motion
+      table_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_ori_b
+        params:
+          command_name: motion
+      object_pos_delta_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_delta_multi_future
+        params:
+          command_name: motion
+      object_ori_delta_multi_future_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_delta_multi_future_6d
+        params:
+          command_name: motion
+      command_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+      motion_anchor_ori_b_mf:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b_mf
+        params:
+          command_name: motion
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PrivilegedCfg
+    tokenizer:
+      encoder_index:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_command_obs
+        params:
+          command_name: motion
+          obs_name: episode_encoder_index
+      command_multi_future_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+          non_flatten: true
+      command_z_multi_future_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_z_multi_future
+        params:
+          command_name: motion
+          non_flatten: true
+      motion_anchor_ori_heading_mf_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_heading_mf
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      command_multi_future_lower_body:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future_lower_body
+        params:
+          command_name: motion
+      vr_3point_local_target:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:vr_3point_local_target
+        params:
+          command_name: motion
+      vr_3point_local_orn_target:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:vr_3point_local_orn_target
+        params:
+          command_name: motion
+      motion_anchor_ori_heading:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_heading
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      command_z:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_z
+        params:
+          command_name: motion
+      smpl_joints_multi_future_local_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:smpl_joints_multi_future_local
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      smpl_root_ori_heading_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:smpl_root_ori_heading_mf
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      joint_pos_multi_future_wrist_for_smpl:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_multi_future_select_joints_for_smpl
+        params:
+          command_name: motion
+          joints_idx:
+          - 23
+          - 24
+          - 25
+          - 26
+          - 27
+          - 28
+      _target_: gear_sonic.envs.manager_env.mdp.observations.TokenizerCfg
+      enable_corruption: false
+      concatenate_terms: false
+    policy_atm:
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.2
+          n_max: 0.2
+      joint_pos_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.01
+          n_max: 0.01
+      joint_vel_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      actions_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_actions_history_length}
+      gravity_dir:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:gravity_dir
+        params:
+          command_name: motion
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PolicyAtmCfg
+      enable_corruption: false
+      concatenate_terms: true
+    _target_: gear_sonic.envs.manager_env.mdp.observations.ObservationsCfg
+  rewards:
+    tracking_anchor_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_anchor_pos_error
+      weight: 0.5
+      params:
+        command_name: motion
+        std: 0.3
+    tracking_anchor_ori:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_anchor_ori_error
+      weight: 2.5
+      params:
+        command_name: motion
+        std: 0.4
+    tracking_relative_body_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_relative_body_pos_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 0.3
+    tracking_relative_body_ori:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_relative_body_ori_error
+      weight: 5.0
+      params:
+        command_name: motion
+        std: 0.4
+    tracking_body_linvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_body_linvel_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 1.0
+    tracking_body_angvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_body_angvel_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 3.14
+    undesired_contacts_no_ankle_hand:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:undesired_contacts
+      weight: -0.1
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: contact_forces
+          body_names:
+          - ^(?!left_ankle_roll_link$)(?!right_ankle_roll_link$)(?!.*hand.*).+$
+        threshold: 1.0
+    hand_table_contact_penalty:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_hand_table_contact_penalty
+      weight: -1.0
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: table_to_hand_contact_sensor
+    grasp_reward:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp
+      weight: 5.0
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_hand_contact_sensor
+        contact_threshold: 0.1
+        min_contacts: 8
+        hand: right_hand
+        command_name: motion
+        gate_with_contact_label: true
+    grasp_finger_direction:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp_finger_direction
+      weight: 10.0
+      params:
+        thumb_link: right_hand_thumb_2_link
+        index_link: right_hand_index_1_link
+        middle_link: right_hand_middle_1_link
+        hand: right_hand
+        command_name: motion
+        use_contact_center: true
+    finger_primitive_limit:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_finger_primitive_limit
+      weight: 0.0
+      params:
+        mode: discrete
+        action_scale: 1.0
+        discrete_threshold: 0.5
+    meta_action_rate_l2:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:meta_action_rate_l2
+      weight: -0.1
+      params:
+        token_only: false
+    full_latent_rate_l2:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:full_latent_rate_l2
+      weight: -0.01
+    is_terminated:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: isaaclab.envs.mdp:is_terminated
+      weight: -10.0
+    object_tracking_reward:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:object_tracking_reward
+      weight: 0.0
+      params:
+        command_name: motion
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_hand_contact_sensor
+        w_op: 0.5
+        w_or: 0.0
+        w_ov: 0.0
+        w_oav: 0.0
+        pos_exp_coeff: -100.0
+        ori_exp_coeff: -100.0
+        vel_exp_coeff: -5.0
+        ang_vel_exp_coeff: -5.0
+    _target_: gear_sonic.envs.manager_env.mdp.rewards.RewardsCfg
+    approach_velocity_penalty:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_approach_velocity_penalty
+      weight: -15.0
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_hand_contact_sensor
+        sigma: 0.25
+        contact_threshold: 0.1
+        min_contacts: 8
+        disable_after_contact: false
+    upright_penalty:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:upright_penalty
+      weight: 0
+      params:
+        command_name: motion
+        body_names:
+        - pelvis
+        - torso_link
+  terminations:
+    anchor_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_anchor_height
+      params:
+        command_name: motion
+        threshold: 0.25
+        threshold_adaptive: false
+        down_threshold: 0.5
+    anchor_ori_full:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_anchor_ori
+      params:
+        asset_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: robot
+        command_name: motion
+        threshold: 1
+    ee_body_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_body_height
+      params:
+        command_name: motion
+        threshold: 0.25
+        threshold_adaptive: false
+        down_threshold: 0.5
+        body_names:
+        - left_ankle_roll_link
+        - right_ankle_roll_link
+        - left_wrist_yaw_link
+        - right_wrist_yaw_link
+    time_out:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_time_out
+      time_out: true
+      params:
+        command_name: motion
+    object_pos_deviation:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:object_pos_deviation
+      params:
+        command_name: motion
+        threshold: 0.1
+    _target_: gear_sonic.envs.manager_env.mdp.terminations.TerminationsCfg
+    hand_table_contact_termination:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:hand_table_contact_termination
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: table_to_hand_contact_sensor
+        force_threshold: 1.0
+  commands:
+    motion:
+      _target_: gear_sonic.envs.manager_env.mdp.commands.TrackingCommandCfg
+      asset_name: robot
+      motion_lib_cfg:
+        motion_file: data/motion_lib_genhoi/p019_0324_ha/robot
+        smpl_motion_file: dummy
+        asset:
+          assetRoot: gear_sonic/data/assets/robot_description/mjcf/
+          assetFileName: g1_29dof_rev_1_0.xml
+          urdfFileName: ''
+        extend_config: []
+        target_fps: 50
+        multi_thread: true
+        filter_motion_keys: null
+        adaptive_sampling: null
+        smpl_y_up: true
+        object_motion_file: data/motion_lib_genhoi/p019_0324_ha/objects
+        bps_dir: data/motion_lib_genhoi/p019_0324/bps
+      resampling_time_range:
+      - 1000000000.0
+      - 1000000000.0
+      debug_vis: false
+      dt_future_ref_frames: 0.1
+      num_future_frames: 10
+      pose_range:
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        pitch:
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+      velocity_range:
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        pitch:
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+      joint_position_range:
+      - 0
+      - 0
+      joint_velocity_range:
+      - 0
+      - 0
+      anchor_body: pelvis
+      vr_3point_body:
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+      - torso_link
+      vr_3point_body_offset:
+      - - 0.18
+        - -0.025
+        - 0.0
+      - - 0.18
+        - 0.025
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.35
+      reward_point_body:
+      - pelvis
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+      - left_ankle_roll_link
+      - right_ankle_roll_link
+      reward_point_body_offset:
+      - - 0.0
+        - 0.0
+        - 0.0
+      - - 0.18
+        - -0.025
+        - 0.0
+      - - 0.18
+        - 0.025
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.0
+      body_names:
+      - pelvis
+      - left_hip_roll_link
+      - left_knee_link
+      - left_ankle_roll_link
+      - right_hip_roll_link
+      - right_knee_link
+      - right_ankle_roll_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
+      motion_lib_num_dof: 29
+      hand_default_positions:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      smpl_num_future_frames: 10
+      smpl_dt_future_ref_frames: 0.02
+      use_paired_motions: true
+      start_from_first_frame: false
+      sample_before_contact: true
+      sample_from_n_initial_frames: 30
+      object_position_randomize: false
+      encoder_sample_probs:
+        g1: 1.0
+        teleop: 0.0
+        smpl: 0.0
+    _target_: gear_sonic.envs.manager_env.mdp.commands.CommandsCfg
+  events:
+    _target_: gear_sonic.envs.manager_env.mdp.events.EventCfg
+  curriculum:
+    _target_: gear_sonic.envs.manager_env.mdp.curriculum.CurriculumCfg
+  recorders:
+    _target_: gear_sonic.envs.manager_env.mdp.recorders.RecordersCfg
+  _target_: gear_sonic.envs.manager_env.modular_tracking_env_cfg.ModularTrackingEnvCfg
+  config:
+    num_envs: ${num_envs}
+    env_spacing: 10.0
+    decimation: 4
+    episode_length_s: 10.0
+    sim_dt: 0.005
+    viewer_eye:
+    - 4.5
+    - 0.0
+    - 6.0
+    viewer_lookat:
+    - 0.0
+    - 0.0
+    - 2.0
+    render_results: false
+    save_rendering_dir: ${experiment_dir}/renderings_training
+    experiment_dir: ${experiment_dir}
+    terrain_type: plane
+    object_mass: 0.1
+    table_offset: null
+    eval_camera_offset:
+    - 2
+    - -2
+    - 1
+    action_transform_module_cfg: models/sonic_sm_3pt_heading_hh-20260203_131215/model_config.yaml
+    action_transform_module_checkpoint: models/sonic_sm_3pt_heading_hh-20260203_131215/model_step_092000.pt
+    meta_action_dim: 66
+    needs_policy_atm: true
+    obs:
+      obs_dict: {}
+      obs_dims: {}
+      group_obs_dims: {}
+      group_obs_names: {}
+    action_clip_value: 20.0
+    robot:
+      type: g1_43dof
+      algo_obs_dim_dict: {}
+    rewards:
+      num_critics: 1
+    train_only_events:
+    - push_robot
+    - force_push_robot
+    safe_nan: true
+    gpu_collision_stack_size_exp: 30
+    replicate_physics: false
+    add_object: true
+    object_is_dynamic: true
+    add_table: true
+    lift_contact_force_threshold: 0.1
+    scene_scale: null
+    table_size:
+    - 1.5
+    - 0.7
+    - 0.04
+    use_motion_hand_actions: true
+    use_finger_primitive: true
+    motion_meta_info_path: null
+    contact_sensor_finger_links:
+    - right_hand_palm_link
+    - right_hand_thumb_0_link
+    - right_hand_thumb_1_link
+    - right_hand_thumb_2_link
+    - right_hand_index_0_link
+    - right_hand_index_1_link
+    - right_hand_middle_0_link
+    - right_hand_middle_1_link
+    use_latent_residual: true
+    latent_residual_mode: pre_quantization
+    latent_residual_scale: 0.1
+    tokenizer_action_dim: 64
+    hand_action_dim: 2
+    finger_primitive:
+      primitive_action_map:
+        left:
+          dof_names:
+          - left_hand_index_0_joint
+          - left_hand_index_1_joint
+          - left_hand_middle_0_joint
+          - left_hand_middle_1_joint
+          - left_hand_thumb_0_joint
+          - left_hand_thumb_1_joint
+          - left_hand_thumb_2_joint
+          pos_0:
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          pos_1:
+          - -1.42857143
+          - -2.14285714
+          - -1.42857143
+          - -2.14285714
+          - 0.0
+          - 1.0
+          - 1.0
+          discrete: true
+        right:
+          dof_names:
+          - right_hand_index_0_joint
+          - right_hand_index_1_joint
+          - right_hand_middle_0_joint
+          - right_hand_middle_1_joint
+          - right_hand_thumb_0_joint
+          - right_hand_thumb_1_joint
+          - right_hand_thumb_2_joint
+          pos_0:
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          pos_1:
+          - 1.42857143
+          - 2.14285714
+          - 1.42857143
+          - 2.14285714
+          - 0.0
+          - -1.0
+          - -1.0
+          discrete: true
+    use_staged_wrapper: false
+    object_usd_path: data/motion_lib_genhoi/p019_0324_ha/object_usd
+use_manager_env: true
+exp_base: ${hydra:runtime.choices.exp}
+motion_shard_by_rank: true
+exp_var: pnp_table_p19_2604301955
+actor_prop_history_length: 10
+actor_actions_history_length: 10
+critic_prop_history_length: 10
+critic_actions_history_length: 10

checkpoint/SONIC/models/pnp_table/config.yaml

@@ -0,0 +1,1054 @@
+num_gpus: 1
+max_retries: 1
+seed: 0
+codebase_version: 1.0
+headless: true
+num_envs: 2048
+auto_load_latest: false
+checkpoint: null
+project_name: GRAB_Tracking
+experiment_name: ${exp_base}_${exp_var}
+base_dir: logs_rl
+timestamp: ${now:%Y%m%d_%H%M%S}
+experiment_dir: logs_rl/TRL_G1_Track/manager/universal_token/hoi/pnp_table_pnp_table_p19_2604301955-20260509_235602
+save_dir: ${experiment_dir}/.hydra
+force_flat_terrain: false
+use_wandb: true
+log_task_name: TEST
+multi_gpu: true
+global_rank: 0
+sim_type: isaacsim
+env_spacing: 20
+output_dir: ${experiment_dir}/output
+eval_overrides:
+  headless: false
+  num_envs: 1
+  auto_load_latest: false
+  use_wandb: false
+algo:
+  trl:
+    dataset_name: dummy
+    output_dir: logs_rl/TRL_G1_Track/manager/universal_token/hoi/pnp_table_pnp_table_p19_2604301955-20260509_235602
+    learning_rate: ${algo.config.actor_learning_rate}
+    num_total_batches: ${algo.config.num_learning_iterations}
+    total_episodes: null
+    num_ppo_epochs: ${algo.config.num_learning_epochs}
+    num_mini_batches: ${algo.config.num_mini_batches}
+    per_device_train_batch_size: null
+    gradient_accumulation_steps: 1
+    report_to: none
+    gamma: ${algo.config.gamma}
+    lam: ${algo.config.lam}
+    vf_coef: ${algo.config.value_loss_coef}
+    max_grad_norm: ${algo.config.max_grad_norm}
+    lr_scheduler_type: constant
+    save_strategy: 'no'
+    disable_tqdm: true
+  config:
+    actor:
+      _target_: gear_sonic.trl.modules.actor_critic_modules.Actor
+      running_mean_std: false
+      output_original_obs_dict: true
+      has_aux_loss: true
+      backbone:
+        _target_: gear_sonic.trl.modules.base_module.BaseModuleAux
+        process_output_dim: true
+        aux_loss_func:
+          latent_l2:
+            _target_: gear_sonic.trl.losses.token_losses.LatentL2Loss
+            latent_dim: 64
+        aux_loss_coef:
+          latent_l2: 0.1
+        module_config_dict:
+          input_dim:
+          - actor_obs
+          output_dim:
+          - robot_action_dim
+          layer_config:
+            type: MLP
+            hidden_dims:
+            - 512
+            - 256
+            - 128
+            activation: SiLU
+    critic:
+      _target_: gear_sonic.trl.modules.actor_critic_modules.Critic
+      running_mean_std: false
+      backbone:
+        _target_: gear_sonic.trl.modules.base_module.BaseModule
+        process_output_dim: true
+        module_config_dict:
+          type: MLP
+          input_dim:
+          - critic_obs
+          output_dim:
+          - 1
+          layer_config:
+            type: MLP
+            hidden_dims:
+            - 512
+            - 256
+            - 128
+            activation: SiLU
+    num_learning_epochs: 5
+    num_mini_batches: 4
+    clip_param: 0.2
+    gamma: 0.99
+    lam: 0.95
+    value_loss_coef: 1.0
+    entropy_coef: 0.01
+    actor_learning_rate: 2.0e-05
+    critic_learning_rate: 0.001
+    max_grad_norm: 0.1
+    use_clipped_value_loss: true
+    schedule: adaptive
+    desired_kl: 0.01
+    adaptive_lr_min: 1.0e-05
+    adaptive_lr_max: 0.0002
+    use_new_actor_critic: true
+    use_padding_mask: false
+    ppo_shuffle_every_epoch: true
+    sync_advantage_normalization: true
+    empty_cache_every_n_ppo_epoch: -1
+    num_steps_per_env: 24
+    save_interval: 500
+    eval_frequency: 500
+    load_optimizer: true
+    init_noise_std: 0.05
+    num_learning_iterations: 20000
+    init_at_random_ep_len: true
+    global_rank: 0
+    world_size: 64
+    use_clampped_std: true
+    std_clamp_min: 0.001
+    std_clamp_max: 0.5
+  _recursive_: false
+env: ???
+terrain: ???
+callbacks:
+  model_save:
+    _target_: gear_sonic.trl.callbacks.model_save_callback.ModelSaveCallback
+    save_dir: ${experiment_dir}
+    save_frequency: 500
+    max_disk_usage: 14.8
+  wandb:
+    _target_: gear_sonic.trl.callbacks.wandb_callback.WandbCallback
+  read_eval:
+    _target_: gear_sonic.trl.callbacks.read_eval_callback.ReadEvalCallback
+    eval_dir: ${experiment_dir}/eval
+    check_interval: 1
+  im_resample:
+    _target_: gear_sonic.trl.callbacks.im_resample_callback.ImResampleCallback
+    motion_resample_frequency: 250
+trainer:
+  _target_: gear_sonic.trl.trainer.ppo_trainer_aux_loss.TRLAuxLossPPOTrainer
+wandb:
+  wandb_project: null
+  wandb_tags: online
+  wandb_group: pnp_table_p19_2604301955
+  wandb_id: null
+  wandb_entity: null
+  wandb_dir: /tmp
+manager_env:
+  actions:
+    joint_pos:
+      _target_: isaaclab.envs.mdp.actions.JointPositionActionCfg
+      asset_name: robot
+      joint_names:
+      - .*
+      use_default_offset: true
+    _target_: gear_sonic.envs.manager_env.mdp.actions.ActionsCfg
+  observations:
+    policy:
+      command:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:generated_commands
+        params:
+          command_name: motion
+      motion_anchor_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_pos_b
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.25
+          n_max: 0.25
+      motion_anchor_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      base_lin_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_lin_vel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.2
+          n_max: 0.2
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_rel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.01
+          n_max: 0.01
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_rel
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action
+      target_object_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_target_object_pos_in_base_frame
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object
+        noise: null
+      hand_object_transform_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:hand_object_transform_6d
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_frame_transformer
+        noise: null
+      finger_tips_force:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_finger_tips_contact_force
+        params:
+          sensor_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_contact_sensor
+        noise: null
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_b
+        params:
+          command_name: motion
+        noise: null
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_b_6d
+        params:
+          command_name: motion
+        noise: null
+      table_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_pos_b
+        params:
+          command_name: motion
+        noise: null
+      table_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_ori_b
+        params:
+          command_name: motion
+        noise: null
+      object_pos_delta_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_delta_multi_future
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.02
+          n_max: 0.02
+      object_ori_delta_multi_future_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_delta_multi_future_6d
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.02
+          n_max: 0.02
+      command_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+        noise: null
+      motion_anchor_ori_b_mf:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b_mf
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      object_bps:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_bps
+        params:
+          command_name: motion
+        noise: null
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PolicyCfg
+      enable_corruption: false
+      concatenate_terms: true
+    critic:
+      command:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:generated_commands
+        params:
+          command_name: motion
+      motion_anchor_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_pos_b
+        params:
+          command_name: motion
+      motion_anchor_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b
+        params:
+          command_name: motion
+      body_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:robot_body_pos_b
+        params:
+          command_name: motion
+      body_ori:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:robot_body_ori_b
+        params:
+          command_name: motion
+      base_lin_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_lin_vel
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_rel
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_rel
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action
+      target_object_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_target_object_pos_in_base_frame
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object
+      hand_object_transform_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:hand_object_transform_6d
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_frame_transformer
+      finger_tips_force:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_finger_tips_contact_force
+        params:
+          sensor_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: object_to_hand_contact_sensor
+      grab_contact_flag:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:grab_contact_flag
+        params:
+          command_name: motion
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_b
+        params:
+          command_name: motion
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_b_6d
+        params:
+          command_name: motion
+      table_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_pos_b
+        params:
+          command_name: motion
+      table_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:table_ori_b
+        params:
+          command_name: motion
+      object_pos_delta_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_delta_multi_future
+        params:
+          command_name: motion
+      object_ori_delta_multi_future_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_delta_multi_future_6d
+        params:
+          command_name: motion
+      command_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+      motion_anchor_ori_b_mf:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b_mf
+        params:
+          command_name: motion
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PrivilegedCfg
+    tokenizer:
+      encoder_index:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:get_command_obs
+        params:
+          command_name: motion
+          obs_name: episode_encoder_index
+      command_multi_future_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+          non_flatten: true
+      command_z_multi_future_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_z_multi_future
+        params:
+          command_name: motion
+          non_flatten: true
+      motion_anchor_ori_heading_mf_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_heading_mf
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      command_multi_future_lower_body:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future_lower_body
+        params:
+          command_name: motion
+      vr_3point_local_target:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:vr_3point_local_target
+        params:
+          command_name: motion
+      vr_3point_local_orn_target:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:vr_3point_local_orn_target
+        params:
+          command_name: motion
+      motion_anchor_ori_heading:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_heading
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      command_z:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_z
+        params:
+          command_name: motion
+      smpl_joints_multi_future_local_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:smpl_joints_multi_future_local
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      smpl_root_ori_heading_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:smpl_root_ori_heading_mf
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      joint_pos_multi_future_wrist_for_smpl:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_multi_future_select_joints_for_smpl
+        params:
+          command_name: motion
+          joints_idx:
+          - 23
+          - 24
+          - 25
+          - 26
+          - 27
+          - 28
+      _target_: gear_sonic.envs.manager_env.mdp.observations.TokenizerCfg
+      enable_corruption: false
+      concatenate_terms: false
+    policy_atm:
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.2
+          n_max: 0.2
+      joint_pos_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.01
+          n_max: 0.01
+      joint_vel_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      actions_wo_hand:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action_wo_hand
+        params:
+          asset_cfg:
+            _target_: isaaclab.managers.SceneEntityCfg
+            name: robot
+        history_length: ${actor_actions_history_length}
+      gravity_dir:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:gravity_dir
+        params:
+          command_name: motion
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PolicyAtmCfg
+      enable_corruption: false
+      concatenate_terms: true
+    _target_: gear_sonic.envs.manager_env.mdp.observations.ObservationsCfg
+  rewards:
+    tracking_anchor_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_anchor_pos_error
+      weight: 0.5
+      params:
+        command_name: motion
+        std: 0.3
+    tracking_anchor_ori:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_anchor_ori_error
+      weight: 2.5
+      params:
+        command_name: motion
+        std: 0.4
+    tracking_relative_body_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_relative_body_pos_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 0.3
+    tracking_relative_body_ori:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_relative_body_ori_error
+      weight: 5.0
+      params:
+        command_name: motion
+        std: 0.4
+    tracking_body_linvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_body_linvel_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 1.0
+    tracking_body_angvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_body_angvel_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 3.14
+    undesired_contacts_no_ankle_hand:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:undesired_contacts
+      weight: -0.1
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: contact_forces
+          body_names:
+          - ^(?!left_ankle_roll_link$)(?!right_ankle_roll_link$)(?!.*hand.*).+$
+        threshold: 1.0
+    hand_table_contact_penalty:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_hand_table_contact_penalty
+      weight: -1.0
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: table_to_hand_contact_sensor
+    grasp_reward:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp
+      weight: 5.0
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_hand_contact_sensor
+        contact_threshold: 0.1
+        min_contacts: 8
+        hand: right_hand
+        command_name: motion
+        gate_with_contact_label: true
+    grasp_finger_direction:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_grasp_finger_direction
+      weight: 10.0
+      params:
+        thumb_link: right_hand_thumb_2_link
+        index_link: right_hand_index_1_link
+        middle_link: right_hand_middle_1_link
+        hand: right_hand
+        command_name: motion
+        use_contact_center: true
+    finger_primitive_limit:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_finger_primitive_limit
+      weight: 0.0
+      params:
+        mode: discrete
+        action_scale: 1.0
+        discrete_threshold: 0.5
+    meta_action_rate_l2:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:meta_action_rate_l2
+      weight: -0.1
+      params:
+        token_only: false
+    full_latent_rate_l2:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:full_latent_rate_l2
+      weight: -0.01
+    is_terminated:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: isaaclab.envs.mdp:is_terminated
+      weight: -10.0
+    object_tracking_reward:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:object_tracking_reward
+      weight: 0.0
+      params:
+        command_name: motion
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_hand_contact_sensor
+        w_op: 0.5
+        w_or: 0.0
+        w_ov: 0.0
+        w_oav: 0.0
+        pos_exp_coeff: -100.0
+        ori_exp_coeff: -100.0
+        vel_exp_coeff: -5.0
+        ang_vel_exp_coeff: -5.0
+    _target_: gear_sonic.envs.manager_env.mdp.rewards.RewardsCfg
+    approach_velocity_penalty:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:reward_approach_velocity_penalty
+      weight: -15.0
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: object_to_hand_contact_sensor
+        sigma: 0.25
+        contact_threshold: 0.1
+        min_contacts: 8
+        disable_after_contact: false
+    upright_penalty:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:upright_penalty
+      weight: 0
+      params:
+        command_name: motion
+        body_names:
+        - pelvis
+        - torso_link
+  terminations:
+    anchor_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_anchor_height
+      params:
+        command_name: motion
+        threshold: 0.25
+        threshold_adaptive: false
+        down_threshold: 0.5
+    anchor_ori_full:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_anchor_ori
+      params:
+        asset_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: robot
+        command_name: motion
+        threshold: 1
+    ee_body_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_body_height
+      params:
+        command_name: motion
+        threshold: 0.25
+        threshold_adaptive: false
+        down_threshold: 0.5
+        body_names:
+        - left_ankle_roll_link
+        - right_ankle_roll_link
+        - left_wrist_yaw_link
+        - right_wrist_yaw_link
+    time_out:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_time_out
+      time_out: true
+      params:
+        command_name: motion
+    object_pos_deviation:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:object_pos_deviation
+      params:
+        command_name: motion
+        threshold: 0.1
+    _target_: gear_sonic.envs.manager_env.mdp.terminations.TerminationsCfg
+    hand_table_contact_termination:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:hand_table_contact_termination
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: table_to_hand_contact_sensor
+        force_threshold: 1.0
+  commands:
+    motion:
+      _target_: gear_sonic.envs.manager_env.mdp.commands.TrackingCommandCfg
+      asset_name: robot
+      motion_lib_cfg:
+        motion_file: data/motion_lib_genhoi/p019_0324_ha/robot
+        smpl_motion_file: dummy
+        asset:
+          assetRoot: gear_sonic/data/assets/robot_description/mjcf/
+          assetFileName: g1_29dof_rev_1_0.xml
+          urdfFileName: ''
+        extend_config: []
+        target_fps: 50
+        multi_thread: true
+        filter_motion_keys: null
+        adaptive_sampling: null
+        smpl_y_up: true
+        object_motion_file: data/motion_lib_genhoi/p019_0324_ha/objects
+        bps_dir: data/motion_lib_genhoi/p019_0324/bps
+        motion_shard_rank: 0
+        motion_shard_world_size: 64
+      resampling_time_range:
+      - 1000000000.0
+      - 1000000000.0
+      debug_vis: false
+      dt_future_ref_frames: 0.1
+      num_future_frames: 10
+      pose_range:
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        pitch:
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+      velocity_range:
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        pitch:
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+      joint_position_range:
+      - 0
+      - 0
+      joint_velocity_range:
+      - 0
+      - 0
+      anchor_body: pelvis
+      vr_3point_body:
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+      - torso_link
+      vr_3point_body_offset:
+      - - 0.18
+        - -0.025
+        - 0.0
+      - - 0.18
+        - 0.025
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.35
+      reward_point_body:
+      - pelvis
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+      - left_ankle_roll_link
+      - right_ankle_roll_link
+      reward_point_body_offset:
+      - - 0.0
+        - 0.0
+        - 0.0
+      - - 0.18
+        - -0.025
+        - 0.0
+      - - 0.18
+        - 0.025
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.0
+      body_names:
+      - pelvis
+      - left_hip_roll_link
+      - left_knee_link
+      - left_ankle_roll_link
+      - right_hip_roll_link
+      - right_knee_link
+      - right_ankle_roll_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
+      motion_lib_num_dof: 29
+      hand_default_positions:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      smpl_num_future_frames: 10
+      smpl_dt_future_ref_frames: 0.02
+      use_paired_motions: true
+      start_from_first_frame: false
+      sample_before_contact: true
+      sample_from_n_initial_frames: 30
+      object_position_randomize: false
+      encoder_sample_probs:
+        g1: 1.0
+        teleop: 0.0
+        smpl: 0.0
+    _target_: gear_sonic.envs.manager_env.mdp.commands.CommandsCfg
+  events:
+    _target_: gear_sonic.envs.manager_env.mdp.events.EventCfg
+  curriculum:
+    _target_: gear_sonic.envs.manager_env.mdp.curriculum.CurriculumCfg
+  recorders:
+    _target_: gear_sonic.envs.manager_env.mdp.recorders.RecordersCfg
+  _target_: gear_sonic.envs.manager_env.modular_tracking_env_cfg.ModularTrackingEnvCfg
+  config:
+    num_envs: ${num_envs}
+    env_spacing: 10.0
+    decimation: 4
+    episode_length_s: 10.0
+    sim_dt: 0.005
+    viewer_eye:
+    - 4.5
+    - 0.0
+    - 6.0
+    viewer_lookat:
+    - 0.0
+    - 0.0
+    - 2.0
+    render_results: false
+    save_rendering_dir: ${experiment_dir}/renderings_training
+    experiment_dir: ${experiment_dir}
+    terrain_type: plane
+    object_mass: 0.1
+    table_offset: null
+    eval_camera_offset:
+    - 2
+    - -2
+    - 1
+    action_transform_module_cfg: models/sonic_sm_3pt_heading_hh-20260203_131215/model_config.yaml
+    action_transform_module_checkpoint: models/sonic_sm_3pt_heading_hh-20260203_131215/model_step_092000.pt
+    meta_action_dim: 66
+    needs_policy_atm: true
+    obs:
+      obs_dict: {}
+      obs_dims: {}
+      group_obs_dims: {}
+      group_obs_names: {}
+    action_clip_value: 20.0
+    robot:
+      type: g1_43dof
+      algo_obs_dim_dict: {}
+    rewards:
+      num_critics: 1
+    train_only_events:
+    - push_robot
+    - force_push_robot
+    safe_nan: true
+    gpu_collision_stack_size_exp: 30
+    replicate_physics: false
+    add_object: true
+    object_is_dynamic: true
+    add_table: true
+    lift_contact_force_threshold: 0.1
+    scene_scale: null
+    table_size:
+    - 1.5
+    - 0.7
+    - 0.04
+    use_motion_hand_actions: true
+    use_finger_primitive: true
+    motion_meta_info_path: null
+    contact_sensor_finger_links:
+    - right_hand_palm_link
+    - right_hand_thumb_0_link
+    - right_hand_thumb_1_link
+    - right_hand_thumb_2_link
+    - right_hand_index_0_link
+    - right_hand_index_1_link
+    - right_hand_middle_0_link
+    - right_hand_middle_1_link
+    use_latent_residual: true
+    latent_residual_mode: pre_quantization
+    latent_residual_scale: 0.1
+    tokenizer_action_dim: 64
+    hand_action_dim: 2
+    finger_primitive:
+      primitive_action_map:
+        left:
+          dof_names:
+          - left_hand_index_0_joint
+          - left_hand_index_1_joint
+          - left_hand_middle_0_joint
+          - left_hand_middle_1_joint
+          - left_hand_thumb_0_joint
+          - left_hand_thumb_1_joint
+          - left_hand_thumb_2_joint
+          pos_0:
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          pos_1:
+          - -1.42857143
+          - -2.14285714
+          - -1.42857143
+          - -2.14285714
+          - 0.0
+          - 1.0
+          - 1.0
+          discrete: true
+        right:
+          dof_names:
+          - right_hand_index_0_joint
+          - right_hand_index_1_joint
+          - right_hand_middle_0_joint
+          - right_hand_middle_1_joint
+          - right_hand_thumb_0_joint
+          - right_hand_thumb_1_joint
+          - right_hand_thumb_2_joint
+          pos_0:
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          pos_1:
+          - 1.42857143
+          - 2.14285714
+          - 1.42857143
+          - 2.14285714
+          - 0.0
+          - -1.0
+          - -1.0
+          discrete: true
+    use_staged_wrapper: false
+    object_usd_path: data/motion_lib_genhoi/p019_0324_ha/object_usd
+use_manager_env: true
+exp_base: ${hydra:runtime.choices.exp}
+motion_shard_by_rank: true
+exp_var: pnp_table_p19_2604301955
+actor_prop_history_length: 10
+actor_actions_history_length: 10
+critic_prop_history_length: 10
+critic_actions_history_length: 10

checkpoint/SONIC/models/pnp_table/last.pt

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+oid sha256:d47e573595c41912b7061797cd82022818a60cebd7eaf08e61e024caf8efc119
+size 17066469

checkpoint/SONIC/models/sonic_manipulation_base/last.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:62f3e336cc11cbfb7517fee1f053ed92c81d44accd3757faa0febf421d0a2cd4
+size 469457707

checkpoint/SONIC/models/sonic_manipulation_base/model_config.yaml

@@ -0,0 +1,323 @@
+algo_config:
+  actor:
+    _target_: groot.rl.trl.modules.actor_critic_modules.Actor
+    backbone:
+      _target_: groot.rl.trl.modules.universal_token_modules.UniversalTokenModule
+      aux_loss_coef:
+        g1_recon: 0.01
+        g1_smpl_latent: 1.0
+        g1_teleop_latent: 1.0
+        reencoded_smpl_g1_latent: 1.0
+        teleop_smpl_latent: 1.0
+      aux_loss_func:
+        g1_recon:
+          _target_: groot.rl.trl.losses.token_losses.G1ReconLoss
+          loss_type: mse
+        g1_smpl_latent:
+          _target_: groot.rl.trl.losses.token_losses.G1SmplLatentLoss
+          loss_type: mse
+        g1_teleop_latent:
+          _target_: groot.rl.trl.losses.token_losses.G1TeleopLatentLoss
+          loss_type: mse
+        reencoded_smpl_g1_latent:
+          _target_: groot.rl.trl.losses.token_losses.ReencodedSmplG1LatentLoss
+          loss_type: mse
+        teleop_smpl_latent:
+          _target_: groot.rl.trl.losses.token_losses.TeleopSmplLatentLoss
+          detach_teleop_target: true
+          loss_type: mse
+      decoders:
+        g1_dyn:
+          has_temporal_dim: false
+          inputs:
+          - token_flattened
+          - proprioception
+          outputs:
+          - action
+          params:
+            _target_: groot.rl.agents.modules.modules.BaseModule
+            input_dim: null
+            module_config_dict:
+              layer_config:
+                activation: SiLU
+                hidden_dims:
+                - 2048
+                - 2048
+                - 1024
+                - 1024
+                - 512
+                - 512
+                type: MLP
+            num_input_temporal_dims: null
+            num_output_temporal_dims: null
+            output_dim: null
+        g1_kin:
+          has_temporal_dim: true
+          inputs:
+          - token
+          outputs:
+          - command_multi_future_nonflat
+          - motion_anchor_ori_heading_mf_nonflat
+          params:
+            _target_: groot.rl.agents.modules.modules.BaseModule
+            input_dim: null
+            module_config_dict:
+              layer_config:
+                activation: SiLU
+                hidden_dims:
+                - 2048
+                - 1024
+                - 512
+                - 512
+                type: MLP
+            num_input_temporal_dims: 2
+            num_output_temporal_dims: 10
+            output_dim: null
+      encoder_sample_probs:
+        g1: 1.0
+        smpl: 1.0
+        teleop: 1.0
+      encoders:
+        g1:
+          inputs:
+          - command_multi_future_nonflat
+          - motion_anchor_ori_heading_mf_nonflat
+          params:
+            _target_: groot.rl.agents.modules.modules.BaseModule
+            input_dim: null
+            module_config_dict:
+              layer_config:
+                activation: SiLU
+                hidden_dims:
+                - 2048
+                - 1024
+                - 512
+                - 512
+                type: MLP
+            num_input_temporal_dims: 10
+            num_output_temporal_dims: 2
+            output_dim: null
+        smpl:
+          inputs:
+          - smpl_joints_multi_future_local_nonflat
+          - smpl_root_ori_heading_multi_future
+          - joint_pos_multi_future_wrist_for_smpl
+          params:
+            _target_: groot.rl.agents.modules.modules.BaseModule
+            input_dim: null
+            module_config_dict:
+              layer_config:
+                activation: SiLU
+                hidden_dims:
+                - 2048
+                - 1024
+                - 512
+                - 512
+                type: MLP
+            num_input_temporal_dims: 10
+            num_output_temporal_dims: 2
+            output_dim: null
+        teleop:
+          inputs:
+          - command_multi_future_lower_body
+          - vr_3point_local_target
+          - vr_3point_local_orn_target
+          - motion_anchor_ori_heading
+          params:
+            _target_: groot.rl.agents.modules.modules.BaseModule
+            input_dim: null
+            module_config_dict:
+              layer_config:
+                activation: SiLU
+                hidden_dims:
+                - 2048
+                - 1024
+                - 512
+                - 512
+                type: MLP
+            num_input_temporal_dims: null
+            num_output_temporal_dims: 2
+            output_dim: null
+      fsq_level_list: 32
+      max_num_tokens: 2
+      num_fsq_levels: 32
+      num_future_frames: 10
+      proprioception_features:
+      - actor_obs
+      quantizer:
+        _target_: vector_quantize_pytorch.FSQ
+      reencode_smpl_g1_recon: true
+    has_aux_loss: true
+    input_obs_dict: true
+    running_mean_std: false
+  actor_learning_rate: 2.0e-05
+  adaptive_lr_max: 0.0002
+  adaptive_lr_min: 1.0e-05
+  clip_param: 0.2
+  critic:
+    _target_: groot.rl.trl.modules.actor_critic_modules.Critic
+    backbone:
+      _target_: groot.rl.agents.modules.modules.BaseModule
+      module_config_dict:
+        input_dim:
+        - critic_obs
+        layer_config:
+          activation: SiLU
+          hidden_dims:
+          - 2048
+          - 2048
+          - 1024
+          - 1024
+          - 512
+          - 512
+          type: MLP
+        output_dim:
+        - 1
+        type: MLP
+      process_output_dim: true
+    running_mean_std: true
+  critic_learning_rate: 0.001
+  desired_kl: 0.01
+  empty_cache_every_n_ppo_epoch: -1
+  entropy_coef: 0.01
+  eval:
+    num_eval_episodes: 150
+    num_save_episodes: 200
+    save_goal_reached_only: true
+    save_trajectories: false
+    save_videos: false
+    video_save_prob: 1.0
+  eval_callbacks:
+    analysis_plot_cb:
+      _target_: groot.rl.agents.callbacks.analysis_plot_motion_tracking.AnalysisPlotMotionTracking
+      config:
+        compute_metrics: true
+        log_single_robot: false
+        plot_update_interval: 100
+        sim_dt: 0.02
+        use_weblogger: false
+  eval_frequency: 500
+  gamma: 0.99
+  global_rank: 0
+  init_at_random_ep_len: true
+  init_noise_std: 0.05
+  lam: 0.95
+  load_optimizer: true
+  max_grad_norm: 0.1
+  num_learning_epochs: 5
+  num_learning_iterations: 100000
+  num_mini_batches: 4
+  num_steps_per_env: 24
+  ppo_shuffle_every_epoch: true
+  save_interval: 500
+  schedule: adaptive
+  std_clamp_max: 0.5
+  std_clamp_min: 0.001
+  sync_advantage_normalization: true
+  use_clampped_std: true
+  use_clipped_value_loss: true
+  use_new_actor_critic: true
+  use_padding_mask: false
+  value_loss_coef: 1.0
+  world_size: 128
+env_config:
+  action_clip_value: 20.0
+  action_transform_module_cfg: null
+  action_transform_module_checkpoint: null
+  decimation: 4
+  env_spacing: 2.0
+  episode_length_s: 10.0
+  eval_camera_offset:
+  - 2
+  - 2
+  - 1
+  experiment_dir: !!python/object/apply:pathlib.PosixPath
+  - models
+  - '0227'
+  - logs_rl
+  - TRL_G1_Track
+  - manager
+  - universal_token
+  - all_modes
+  - sonic_sm_3pt_heading_hh-20260203_131215
+  headless: true
+  meta_action_dim: null
+  num_envs: 1
+  object_mass: null
+  obs:
+    group_obs_dims:
+      tokenizer:
+        command_multi_future_lower_body:
+        - 240
+        command_multi_future_nonflat:
+        - 10
+        - 58
+        command_z:
+        - 1
+        command_z_multi_future_nonflat:
+        - 10
+        - 1
+        encoder_index:
+        - 3
+        joint_pos_multi_future_wrist_for_smpl:
+        - 10
+        - 6
+        motion_anchor_ori_heading:
+        - 6
+        motion_anchor_ori_heading_mf_nonflat:
+        - 10
+        - 6
+        smpl_joints_multi_future_local_nonflat:
+        - 10
+        - 72
+        smpl_root_ori_heading_multi_future:
+        - 10
+        - 6
+        vr_3point_local_orn_target:
+        - 12
+        vr_3point_local_target:
+        - 9
+    group_obs_names:
+      tokenizer:
+      - encoder_index
+      - command_multi_future_nonflat
+      - command_z_multi_future_nonflat
+      - command_z
+      - motion_anchor_ori_heading_mf_nonflat
+      - motion_anchor_ori_heading
+      - command_multi_future_lower_body
+      - vr_3point_local_target
+      - vr_3point_local_orn_target
+      - smpl_joints_multi_future_local_nonflat
+      - smpl_root_ori_heading_multi_future
+      - joint_pos_multi_future_wrist_for_smpl
+    obs_dict: {}
+    obs_dims:
+      actor_obs: 930
+      critic_obs: 1645
+      tokenizer: 1761
+  render_results: false
+  rewards:
+    num_critics: 1
+  robot:
+    actions_dim: 29
+    algo_obs_dim_dict:
+      actor_obs: 930
+      critic_obs: 1645
+      tokenizer: 1761
+    type: g1_model_12_dex
+  save_rendering_dir: models/0227/logs_rl/TRL_G1_Track/manager/universal_token/all_modes/sonic_sm_3pt_heading_hh-20260203_131215/renderings_training
+  sim_dt: 0.005
+  table_offset: null
+  terrain_type: trimesh
+  train_only_events:
+  - push_robot
+  - compliance_force_push
+  viewer_eye:
+  - 4.5
+  - 0.0
+  - 6.0
+  viewer_lookat:
+  - 0.0
+  - 0.0
+  - 2.0

checkpoint/SONIC/models/terrain_stairs/config.yaml

@@ -0,0 +1,809 @@
+num_gpus: 1
+max_retries: 1
+seed: 0
+codebase_version: 1.0
+headless: true
+num_envs: 1024
+auto_load_latest: false
+checkpoint: null
+project_name: TRL_G1_Track
+experiment_name: ${exp_base}_${exp_var}
+base_dir: logs_rl
+timestamp: ${now:%Y%m%d_%H%M%S}
+experiment_dir: logs_rl/TRL_G1_Track/manager/universal_token/all_modes/sonic_single_hmap_proj_terrain_obj_tnfh_stairs_hmap_obj_full_nodr_2604190246-20260420_184200
+save_dir: ${experiment_dir}/.hydra
+force_flat_terrain: false
+use_wandb: true
+log_task_name: TEST
+multi_gpu: true
+global_rank: 0
+sim_type: isaacsim
+env_spacing: 20
+output_dir: ${experiment_dir}/output
+eval_overrides:
+  headless: false
+  num_envs: 1
+  auto_load_latest: false
+  use_wandb: false
+algo:
+  trl:
+    dataset_name: dummy
+    output_dir: logs_rl/TRL_G1_Track/manager/universal_token/all_modes/sonic_single_hmap_proj_terrain_obj_tnfh_stairs_hmap_obj_full_nodr_2604190246-20260420_184200
+    learning_rate: ${algo.config.actor_learning_rate}
+    num_total_batches: ${algo.config.num_learning_iterations}
+    total_episodes: null
+    num_ppo_epochs: ${algo.config.num_learning_epochs}
+    num_mini_batches: ${algo.config.num_mini_batches}
+    per_device_train_batch_size: null
+    gradient_accumulation_steps: 1
+    report_to: none
+    gamma: ${algo.config.gamma}
+    lam: ${algo.config.lam}
+    vf_coef: ${algo.config.value_loss_coef}
+    max_grad_norm: ${algo.config.max_grad_norm}
+    lr_scheduler_type: constant
+    save_strategy: 'no'
+    disable_tqdm: true
+  config:
+    critic:
+      _target_: groot.rl.trl.modules.actor_critic_modules.Critic
+      running_mean_std: true
+      backbone:
+        _target_: groot.rl.trl.modules.base_module.BaseModule
+        process_output_dim: true
+        module_config_dict:
+          type: MLP
+          input_dim:
+          - critic_obs
+          output_dim:
+          - 1
+          layer_config:
+            type: MLP
+            hidden_dims:
+            - 2048
+            - 2048
+            - 1024
+            - 1024
+            - 512
+            - 512
+            activation: SiLU
+    actor:
+      backbone:
+        quantizer:
+          _target_: vector_quantize_pytorch.FSQ
+        encoders:
+          g1:
+            inputs:
+            - command_multi_future_nonflat
+            - motion_anchor_ori_b_mf_nonflat
+            - height_map_z_flat
+            params:
+              _target_: groot.rl.trl.modules.base_module.BaseModule
+              input_dim: null
+              output_dim: null
+              num_input_temporal_dims: ${manager_env.commands.motion.num_future_frames}
+              num_output_temporal_dims: ${algo.config.actor.backbone.max_num_tokens}
+              module_config_dict:
+                layer_config:
+                  type: MLP
+                  hidden_dims:
+                  - 2048
+                  - 1024
+                  - 512
+                  - 512
+                  activation: SiLU
+            input_projectors:
+              height_map_z_flat:
+                type: conv2d
+                input_shape:
+                - 1
+                - 11
+                - 11
+                channels:
+                - 16
+                - 32
+                kernel_sizes:
+                - 3
+                - 3
+                strides:
+                - 1
+                - 1
+                paddings:
+                - 1
+                - 1
+                use_maxpool: true
+                hidden_dims:
+                - 128
+                output_dim: 128
+                activation: ReLU
+        decoders:
+          g1_dyn:
+            inputs:
+            - token_flattened
+            - proprioception
+            outputs:
+            - action
+            has_temporal_dim: false
+            params:
+              _target_: groot.rl.trl.modules.base_module.BaseModule
+              input_dim: null
+              output_dim: null
+              num_input_temporal_dims: null
+              num_output_temporal_dims: null
+              module_config_dict:
+                layer_config:
+                  type: MLP
+                  hidden_dims:
+                  - 2048
+                  - 2048
+                  - 1024
+                  - 1024
+                  - 512
+                  - 512
+                  activation: SiLU
+          g1_kin:
+            inputs:
+            - token
+            outputs:
+            - command_multi_future_nonflat
+            - motion_anchor_ori_b_mf_nonflat
+            has_temporal_dim: true
+            params:
+              _target_: groot.rl.trl.modules.base_module.BaseModule
+              input_dim: null
+              output_dim: null
+              num_input_temporal_dims: ${algo.config.actor.backbone.max_num_tokens}
+              num_output_temporal_dims: ${manager_env.commands.motion.num_future_frames}
+              module_config_dict:
+                layer_config:
+                  type: MLP
+                  hidden_dims:
+                  - 2048
+                  - 1024
+                  - 512
+                  - 512
+                  activation: SiLU
+        _target_: groot.rl.trl.modules.universal_token_modules.UniversalTokenModule
+        num_future_frames: ${manager_env.commands.motion.num_future_frames}
+        proprioception_features:
+        - actor_obs
+        encoder_sample_probs: ${manager_env.commands.motion.encoder_sample_probs}
+        num_fsq_levels: 32
+        fsq_level_list: 32
+        max_num_tokens: 2
+        aux_loss_func:
+          g1_recon:
+            _target_: groot.rl.trl.losses.token_losses.G1ReconLoss
+            loss_type: mse
+        aux_loss_coef:
+          g1_recon: 0.01
+      _target_: groot.rl.trl.modules.actor_critic_modules.Actor
+      running_mean_std: false
+      input_obs_dict: true
+      has_aux_loss: true
+    num_learning_epochs: 5
+    num_mini_batches: 4
+    clip_param: 0.2
+    gamma: 0.99
+    lam: 0.95
+    value_loss_coef: 1.0
+    entropy_coef: 0.01
+    actor_learning_rate: 2.0e-05
+    critic_learning_rate: 0.001
+    max_grad_norm: 0.1
+    use_clipped_value_loss: true
+    schedule: adaptive
+    desired_kl: 0.01
+    adaptive_lr_min: 1.0e-05
+    adaptive_lr_max: 0.0002
+    use_new_actor_critic: true
+    use_padding_mask: false
+    ppo_shuffle_every_epoch: true
+    sync_advantage_normalization: true
+    empty_cache_every_n_ppo_epoch: -1
+    num_steps_per_env: 24
+    save_interval: 500
+    eval_frequency: 500
+    load_optimizer: true
+    init_noise_std: 0.05
+    num_learning_iterations: 30000
+    init_at_random_ep_len: true
+    eval_callbacks:
+      analysis_plot_cb:
+        _target_: groot.rl.agents.callbacks.analysis_plot_motion_tracking.AnalysisPlotMotionTracking
+        config:
+          sim_dt: 0.02
+          log_single_robot: false
+          plot_update_interval: 100
+          compute_metrics: true
+          use_weblogger: false
+    global_rank: 0
+    world_size: 64
+    use_clampped_std: true
+    std_clamp_min: 0.001
+    std_clamp_max: 0.5
+  _target_: groot.rl.agents.ppo.ppo_im.PPOIM
+  _recursive_: false
+env: ???
+terrain: ???
+callbacks:
+  model_save:
+    _target_: groot.rl.trl.callbacks.model_save_callback.ModelSaveCallback
+    save_dir: ${experiment_dir}
+    save_frequency: 500
+    max_disk_usage: 14.8
+  wandb:
+    _target_: groot.rl.trl.callbacks.wandb_callback.WandbCallback
+  read_eval:
+    _target_: groot.rl.trl.callbacks.read_eval_callback.ReadEvalCallback
+    eval_dir: ${experiment_dir}/eval
+    check_interval: 1
+  im_resample:
+    _target_: groot.rl.trl.callbacks.im_resample_callback.ImResampleCallback
+    motion_resample_frequency: 250
+trainer:
+  _target_: groot.rl.trl.trainer.ppo_trainer_aux_loss.TRLAuxLossPPOTrainer
+wandb:
+  wandb_project: null
+  wandb_tags: online
+  wandb_group: tnfh_stairs_hmap_obj_full_nodr_2604190246
+  wandb_id: null
+  wandb_entity: null
+  wandb_dir: /tmp
+manager_env:
+  commands:
+    motion:
+      encoder_sample_probs:
+        g1: 1.0
+        teleop: 1.0
+        smpl: 1.0
+      _target_: groot.rl.envs.manager_env.mdp.commands.TrackingCommandCfg
+      asset_name: robot
+      motion_lib_cfg:
+        motion_file: /mnt/amlfs-04/home/yey/repo/gr00t-locomanip-internal/data/motion_lib_genhoi/st005_0408/robot
+        smpl_motion_file: dummy
+        asset:
+          assetRoot: groot/rl/data/assets/bm/unitree_description/mjcf/
+          assetFileName: g1_29dof_rev_1_0.xml
+          urdfFileName: ''
+        extend_config: []
+        target_fps: 50
+        multi_thread: true
+        filter_motion_keys: null
+        adaptive_sampling:
+          enable: false
+          bin_size: 50
+          sequence_length_agnostic: true
+          init_num_failures: 1
+          uniform_sampling_rate: 0.1
+          pre_failure_sample_window: 200
+          use_failure_rate_decay: false
+          decay_gamma: 0.8
+          adp_samp_failure_rate_max_over_mean: 200
+        upper_body_augment_prefixes:
+        - '2025'
+        - sonic_mixed_walking_running
+        - sonic_squating_different_height_switching
+        - sonic_running
+        - sonic_walking
+        - sonic_squating_different_height_hold
+        - sonic_walking_other_style
+        - balance
+        smpl_y_up: true
+        object_motion_file: /mnt/amlfs-04/home/yey/repo/gr00t-locomanip-internal/data/motion_lib_genhoi/st005_0408/objects
+      resampling_time_range:
+      - 1000000000.0
+      - 1000000000.0
+      debug_vis: true
+      dt_future_ref_frames: 0.1
+      num_future_frames: 10
+      pose_range:
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        pitch:
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+      velocity_range:
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        pitch:
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+      joint_position_range:
+      - 0
+      - 0
+      joint_velocity_range:
+      - 0
+      - 0
+      anchor_body: pelvis
+      vr_3point_body:
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+      - torso_link
+      vr_3point_body_offset:
+      - - 0.18
+        - -0.025
+        - 0.0
+      - - 0.18
+        - 0.025
+        - 0.0
+      - - 0.0
+        - 0.0
+        - 0.35
+      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
+      body_names:
+      - pelvis
+      - left_hip_roll_link
+      - left_knee_link
+      - left_ankle_roll_link
+      - right_hip_roll_link
+      - right_knee_link
+      - right_ankle_roll_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
+      use_height_map: true
+      smpl_num_future_frames: 10
+      smpl_dt_future_ref_frames: 0.02
+      cat_upper_body_poses: true
+      cat_upper_body_poses_prob: 0.5
+      terrain_aware_sampling: false
+      flat_to_terrain_ratio: 3
+      init_z_offset: 0.05
+      use_paired_motions: true
+    _target_: groot.rl.envs.manager_env.mdp.commands.CommandsCfg
+  actions:
+    joint_pos:
+      _target_: isaaclab.envs.mdp.actions.JointPositionActionCfg
+      asset_name: robot
+      joint_names:
+      - .*
+      use_default_offset: true
+    _target_: groot.rl.envs.manager_env.mdp.actions.ActionsCfg
+  observations:
+    policy:
+      gravity_dir:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:gravity_dir
+        params:
+          command_name: motion
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:base_ang_vel
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.2
+          n_max: 0.2
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:joint_pos_rel
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.01
+          n_max: 0.01
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:joint_vel_rel
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.5
+          n_max: 0.5
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:last_action
+        history_length: ${actor_actions_history_length}
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:object_pos_b
+        params:
+          command_name: motion
+        noise: null
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:object_ori_b_6d
+        params:
+          command_name: motion
+        noise: null
+      object_pos_delta_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:object_pos_delta_multi_future
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.02
+          n_max: 0.02
+      object_ori_delta_multi_future_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:object_ori_delta_multi_future_6d
+        params:
+          command_name: motion
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.02
+          n_max: 0.02
+      _target_: groot.rl.envs.manager_env.mdp.observations.PolicyCfg
+      enable_corruption: false
+      concatenate_terms: true
+    critic:
+      command_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+      motion_anchor_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:motion_anchor_pos_b
+        params:
+          command_name: motion
+      motion_anchor_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:motion_anchor_ori_b
+        params:
+          command_name: motion
+      body_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:robot_body_pos_b
+        params:
+          command_name: motion
+      body_ori:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:robot_body_ori_b
+        params:
+          command_name: motion
+      base_lin_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:base_lin_vel
+        history_length: ${critic_prop_history_length}
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:base_ang_vel
+        history_length: ${critic_prop_history_length}
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:joint_pos_rel
+        history_length: ${critic_prop_history_length}
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:joint_vel_rel
+        history_length: ${critic_prop_history_length}
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:last_action
+        history_length: ${critic_actions_history_length}
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:object_pos_b
+        params:
+          command_name: motion
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:object_ori_b_6d
+        params:
+          command_name: motion
+      object_pos_delta_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:object_pos_delta_multi_future
+        params:
+          command_name: motion
+      object_ori_delta_multi_future_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:object_ori_delta_multi_future_6d
+        params:
+          command_name: motion
+      _target_: groot.rl.envs.manager_env.mdp.observations.PrivilegedCfg
+    tokenizer:
+      encoder_index:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:get_command_obs
+        params:
+          command_name: motion
+          obs_name: episode_encoder_index
+      command_multi_future_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+          non_flatten: true
+      command_z_multi_future_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:command_z_multi_future
+        params:
+          command_name: motion
+          non_flatten: true
+      motion_anchor_ori_b_mf_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp:motion_anchor_ori_b_mf
+        params:
+          command_name: motion
+          non_flatten: true
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_min: -0.05
+          n_max: 0.05
+      height_map_z_flat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: groot.rl.envs.manager_env.mdp.observations:height_map_z_flat
+        params:
+          command_name: motion
+          random: false
+      _target_: groot.rl.envs.manager_env.mdp.observations.TokenizerCfg
+      enable_corruption: false
+      concatenate_terms: false
+    _target_: groot.rl.envs.manager_env.mdp.observations.ObservationsCfg
+  rewards:
+    tracking_anchor_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:tracking_anchor_pos_error
+      weight: 0.5
+      params:
+        command_name: motion
+        std: 0.3
+    tracking_anchor_ori:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:tracking_anchor_ori_error
+      weight: 0.5
+      params:
+        command_name: motion
+        std: 0.4
+    tracking_relative_body_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:tracking_relative_body_pos_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 0.3
+    tracking_relative_body_ori:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:tracking_relative_body_ori_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 0.4
+    tracking_body_linvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:tracking_body_linvel_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 1.0
+    tracking_body_angvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:tracking_body_angvel_error
+      weight: 1.0
+      params:
+        command_name: motion
+        std: 3.14
+    action_rate_l2:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:action_rate_l2
+      weight: -0.1
+    joint_limit:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:joint_pos_limits
+      weight: -10.0
+      params:
+        asset_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: robot
+          joint_names:
+          - .*
+    undesired_contacts:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:undesired_contacts
+      weight: -0.1
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: contact_forces
+          body_names:
+          - ^(?!left_ankle_roll_link$)(?!right_ankle_roll_link$)(?!left_wrist_yaw_link$)(?!right_wrist_yaw_link$)(?!left_elbow_link$)(?!right_elbow_link$).+$
+        threshold: 1.0
+    anti_shake_ang_vel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:anti_shake_ang_vel_l2
+      weight: -0.005
+      params:
+        command_name: motion
+        threshold: 1.5
+        body_names:
+        - left_wrist_yaw_link
+        - right_wrist_yaw_link
+        - head_link
+    tracking_vr_5point_local:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:tracking_local_vr_5point_error
+      weight: 2.0
+      params:
+        command_name: motion
+        std: 0.1
+    feet_acc:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: groot.rl.envs.manager_env.mdp:joint_acc_l2
+      weight: -2.5e-07
+      params:
+        asset_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: robot
+          joint_names:
+          - .*ankle.*
+    _target_: groot.rl.envs.manager_env.mdp.rewards.RewardsCfg
+  terminations:
+    anchor_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: groot.rl.envs.manager_env.mdp:exceeded_anchor_height
+      params:
+        command_name: motion
+        threshold: 0.15
+        threshold_adaptive: true
+        down_threshold: 0.75
+        root_height_threshold: 0.5
+    anchor_ori_full:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: groot.rl.envs.manager_env.mdp:exceeded_anchor_ori
+      params:
+        asset_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          name: robot
+        command_name: motion
+        threshold: 0.2
+    ee_body_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: groot.rl.envs.manager_env.mdp:exceeded_body_height
+      params:
+        command_name: motion
+        threshold: 0.15
+        threshold_adaptive: true
+        down_threshold: 0.75
+        root_height_threshold: 0.5
+        body_names:
+        - left_ankle_roll_link
+        - right_ankle_roll_link
+        - left_wrist_yaw_link
+        - right_wrist_yaw_link
+    time_out:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: groot.rl.envs.manager_env.mdp:tracking_time_out
+      time_out: true
+      params:
+        command_name: motion
+    foot_pos_xyz:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: groot.rl.envs.manager_env.mdp:exceeded_body_pos
+      params:
+        command_name: motion
+        threshold: 0.2
+        body_names:
+        - left_ankle_roll_link
+        - right_ankle_roll_link
+    _target_: groot.rl.envs.manager_env.mdp.terminations.TerminationsCfg
+  events:
+    physics_material: null
+    add_joint_default_pos: null
+    base_com: null
+    push_robot: null
+    randomize_rigid_body_mass: null
+    _target_: groot.rl.envs.manager_env.mdp.events.EventCfg
+  curriculum:
+    _target_: groot.rl.envs.manager_env.mdp.curriculum.CurriculumCfg
+  recorders:
+    _target_: groot.rl.envs.manager_env.mdp.recorders.RecordersCfg
+  _target_: groot.rl.envs.manager_env.modular_tracking_env_cfg.ModularTrackingEnvCfg
+  config:
+    num_envs: ${num_envs}
+    env_spacing: 10.0
+    decimation: 4
+    episode_length_s: 10.0
+    sim_dt: 0.005
+    viewer_eye:
+    - 4.5
+    - 0.0
+    - 6.0
+    viewer_lookat:
+    - 0.0
+    - 0.0
+    - 2.0
+    render_results: false
+    save_rendering_dir: ${experiment_dir}/renderings_training
+    experiment_dir: ${experiment_dir}
+    terrain_type: plane
+    object_mass: null
+    table_offset: null
+    eval_camera_offset:
+    - 2
+    - 2
+    - 1
+    action_transform_module_cfg: null
+    action_transform_module_checkpoint: null
+    meta_action_dim: null
+    needs_policy_atm: true
+    obs:
+      obs_dict: {}
+      obs_dims: {}
+      group_obs_dims: {}
+      group_obs_names: {}
+    action_clip_value: 20.0
+    robot:
+      type: g1_model_12
+      algo_obs_dim_dict: {}
+    rewards:
+      num_critics: 1
+    train_only_events:
+    - push_robot
+    - compliance_force_push
+    add_object: true
+    terrain_motion_dir: /mnt/amlfs-04/home/yey/repo/gr00t-locomanip-internal/data/motion_lib_genhoi/st005_0408
+    terrain_usd_path: null
+    terrain_motion_keys_path: null
+    flat_motion_dir: null
+    flat_motion_keys_path: null
+    flat_usd_path: null
+    flat_to_terrain_ratio: 0
+    enable_depth_camera: false
+    safe_nan: true
+use_manager_env: true
+exp_base: ${hydra:runtime.choices.exp}
+exp_var: tnfh_stairs_hmap_obj_full_nodr_2604190246
+actor_prop_history_length: 10
+actor_actions_history_length: 10
+critic_prop_history_length: 10
+critic_actions_history_length: 10

checkpoint/SONIC/models/terrain_stairs/last.pt

@@ -0,0 +1,3 @@
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+oid sha256:9af1354d104aef73837daf7d6f7fa9b8f77b356c457c7aa513faa6e2737df91f
+size 388073846