Update SONIC checkpoints

checkpoint/SONIC/models/pnp_ground/config.yaml

@@ -1,1047 +0,0 @@
-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

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

checkpoint/SONIC/models/pnp_table/config.yaml

@@ -1,1054 +0,0 @@
-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

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d47e573595c41912b7061797cd82022818a60cebd7eaf08e61e024caf8efc119
-size 17066469

checkpoint/SONIC/models/terrain_stairs/config.yaml

@@ -1,809 +0,0 @@
-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

@@ -1,3 +0,0 @@
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-size 388073846