Add terrain release SONIC checkpoint

checkpoint/SONIC/models/terrain_release/config.yaml

@@ -0,0 +1,801 @@
+actor_actions_history_length: 10
+actor_prop_history_length: 10
+algo:
+  _recursive_: false
+  config:
+    actor:
+      _target_: gear_sonic.trl.modules.actor_critic_modules.Actor
+      backbone:
+        _target_: gear_sonic.trl.modules.universal_token_modules.UniversalTokenModule
+        aux_loss_coef:
+          g1_recon: 0.01
+        aux_loss_func:
+          g1_recon:
+            _target_: gear_sonic.trl.losses.token_losses.G1ReconLoss
+            loss_type: mse
+        decoders:
+          g1_dyn:
+            has_temporal_dim: false
+            inputs:
+            - token_flattened
+            - proprioception
+            outputs:
+            - action
+            params:
+              _target_: gear_sonic.trl.modules.base_module.BaseModule
+              input_dim: null
+              module_config_dict:
+                layer_config:
+                  activation: SiLU
+                  hidden_dims:
+                  - 2048
+                  - 2048
+                  - 1024
+                  - 1024
+                  - 512
+                  - 512
+                  type: MLP
+              num_input_temporal_dims: null
+              num_output_temporal_dims: null
+              output_dim: null
+          g1_kin:
+            has_temporal_dim: true
+            inputs:
+            - token
+            outputs:
+            - command_multi_future_nonflat
+            - motion_anchor_ori_b_mf_nonflat
+            params:
+              _target_: gear_sonic.trl.modules.base_module.BaseModule
+              input_dim: null
+              module_config_dict:
+                layer_config:
+                  activation: SiLU
+                  hidden_dims:
+                  - 2048
+                  - 1024
+                  - 512
+                  - 512
+                  type: MLP
+              num_input_temporal_dims: ${algo.config.actor.backbone.max_num_tokens}
+              num_output_temporal_dims: ${manager_env.commands.motion.num_future_frames}
+              output_dim: null
+        encoder_sample_probs: ${manager_env.commands.motion.encoder_sample_probs}
+        encoders:
+          g1:
+            input_projectors:
+              height_map_z_flat:
+                activation: ReLU
+                channels:
+                - 16
+                - 32
+                hidden_dims:
+                - 128
+                input_shape:
+                - 1
+                - 11
+                - 11
+                kernel_sizes:
+                - 3
+                - 3
+                output_dim: 128
+                paddings:
+                - 1
+                - 1
+                strides:
+                - 1
+                - 1
+                type: conv2d
+                use_maxpool: true
+            inputs:
+            - command_multi_future_nonflat
+            - motion_anchor_ori_b_mf_nonflat
+            - height_map_z_flat
+            params:
+              _target_: gear_sonic.trl.modules.base_module.BaseModule
+              input_dim: null
+              module_config_dict:
+                layer_config:
+                  activation: SiLU
+                  hidden_dims:
+                  - 2048
+                  - 1024
+                  - 512
+                  - 512
+                  type: MLP
+              num_input_temporal_dims: ${manager_env.commands.motion.num_future_frames}
+              num_output_temporal_dims: ${algo.config.actor.backbone.max_num_tokens}
+              output_dim: null
+        fsq_level_list: 32
+        max_num_tokens: 2
+        num_fsq_levels: 32
+        num_future_frames: ${manager_env.commands.motion.num_future_frames}
+        proprioception_features:
+        - actor_obs
+        quantizer:
+          _target_: vector_quantize_pytorch.FSQ
+      has_aux_loss: true
+      input_obs_dict: true
+      running_mean_std: false
+    actor_learning_rate: 2.0e-05
+    adaptive_lr_max: 0.0002
+    adaptive_lr_min: 1.0e-05
+    clip_param: 0.2
+    critic:
+      _target_: gear_sonic.trl.modules.actor_critic_modules.Critic
+      backbone:
+        _target_: gear_sonic.trl.modules.base_module.BaseModule
+        module_config_dict:
+          input_dim:
+          - critic_obs
+          layer_config:
+            activation: SiLU
+            hidden_dims:
+            - 2048
+            - 2048
+            - 1024
+            - 1024
+            - 512
+            - 512
+            type: MLP
+          output_dim:
+          - 1
+          type: MLP
+        process_output_dim: true
+      running_mean_std: true
+    critic_learning_rate: 0.001
+    desired_kl: 0.01
+    empty_cache_every_n_ppo_epoch: -1
+    entropy_coef: 0.01
+    eval_frequency: 500
+    gamma: 0.99
+    global_rank: 0
+    init_at_random_ep_len: true
+    init_noise_std: 0.05
+    lam: 0.95
+    load_optimizer: true
+    max_grad_norm: 0.1
+    num_learning_epochs: 5
+    num_learning_iterations: 20000
+    num_mini_batches: 4
+    num_steps_per_env: 24
+    ppo_shuffle_every_epoch: true
+    save_interval: 500
+    schedule: adaptive
+    std_clamp_max: 0.5
+    std_clamp_min: 0.001
+    sync_advantage_normalization: true
+    use_clampped_std: true
+    use_clipped_value_loss: true
+    use_new_actor_critic: true
+    use_padding_mask: false
+    value_loss_coef: 1
+    world_size: 64
+  trl:
+    dataset_name: dummy
+    disable_tqdm: true
+    gamma: ${algo.config.gamma}
+    gradient_accumulation_steps: 1
+    lam: ${algo.config.lam}
+    learning_rate: ${algo.config.actor_learning_rate}
+    lr_scheduler_type: constant
+    max_grad_norm: ${algo.config.max_grad_norm}
+    num_mini_batches: ${algo.config.num_mini_batches}
+    num_ppo_epochs: ${algo.config.num_learning_epochs}
+    num_total_batches: ${algo.config.num_learning_iterations}
+    output_dir: logs_rl/TRL_G1_Track/manager/universal_token/all_modes/sonic_single_hmap_proj_terrain_obj_tnfhtrs17585_release_terrain_sitting_ft_2607061404-20260706_210612
+    per_device_train_batch_size: null
+    report_to: none
+    save_strategy: 'no'
+    total_episodes: null
+    vf_coef: ${algo.config.value_loss_coef}
+auto_load_latest: false
+base_dir: logs_rl
+callbacks:
+  im_resample:
+    _target_: gear_sonic.trl.callbacks.im_resample_callback.ImResampleCallback
+    motion_resample_frequency: 250
+  model_save:
+    _target_: gear_sonic.trl.callbacks.model_save_callback.ModelSaveCallback
+    max_disk_usage: 14.8
+    save_dir: ${experiment_dir}
+    save_frequency: 500
+  read_eval:
+    _target_: gear_sonic.trl.callbacks.read_eval_callback.ReadEvalCallback
+    check_interval: 1
+    eval_dir: ${experiment_dir}/eval
+  wandb:
+    _target_: gear_sonic.trl.callbacks.wandb_callback.WandbCallback
+checkpoint: /mnt/amlfs-05/home/tiaxie/code/GRAIL/logs_rl/TRL_G1_Track/manager/universal_token/all_modes/sonic_single_hmap_proj_terrain_obj_tnfhtr15837_release_terrain_ft_2607061012-20260706_175844/last.pt
+codebase_version: 1
+critic_actions_history_length: 10
+critic_prop_history_length: 10
+env: ???
+env_spacing: 20
+eval_overrides:
+  auto_load_latest: false
+  headless: false
+  num_envs: 1
+  use_wandb: false
+exp_base: ${hydra:runtime.choices.exp}
+exp_var: tnfhtrs17585_release_terrain_sitting_ft_2607061404
+experiment_dir: logs_rl/TRL_G1_Track/manager/universal_token/all_modes/sonic_single_hmap_proj_terrain_obj_tnfhtrs17585_release_terrain_sitting_ft_2607061404-20260706_210612
+experiment_name: ${exp_base}_${exp_var}
+force_flat_terrain: false
+global_rank: 0
+headless: true
+log_task_name: TEST
+manager_env:
+  _target_: gear_sonic.envs.manager_env.modular_tracking_env_cfg.ModularTrackingEnvCfg
+  actions:
+    _target_: gear_sonic.envs.manager_env.mdp.actions.ActionsCfg
+    joint_pos:
+      _target_: isaaclab.envs.mdp.actions.JointPositionActionCfg
+      asset_name: robot
+      joint_names:
+      - .*
+      use_default_offset: true
+  commands:
+    _target_: gear_sonic.envs.manager_env.mdp.commands.CommandsCfg
+    motion:
+      _target_: gear_sonic.envs.manager_env.mdp.commands.TrackingCommandCfg
+      anchor_body: pelvis
+      asset_name: robot
+      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
+      cat_upper_body_poses: true
+      cat_upper_body_poses_prob: 0.5
+      debug_vis: true
+      dt_future_ref_frames: 0.1
+      encoder_sample_probs:
+        g1: 1
+        smpl: 1
+        teleop: 1
+      flat_to_terrain_ratio: 3
+      init_z_offset: 0.05
+      joint_position_range:
+      - 0
+      - 0
+      joint_velocity_range:
+      - 0
+      - 0
+      motion_lib_cfg:
+        adaptive_sampling:
+          adp_samp_failure_rate_max_over_mean: 200
+          bin_size: 50
+          decay_gamma: 0.8
+          enable: false
+          init_num_failures: 1
+          pre_failure_sample_window: 200
+          sequence_length_agnostic: true
+          uniform_sampling_rate: 0.1
+          use_failure_rate_decay: false
+        asset:
+          assetFileName: g1_29dof_rev_1_0.xml
+          assetRoot: gear_sonic/data/assets/robot_description/mjcf/
+          urdfFileName: ''
+        extend_config: []
+        filter_motion_keys: null
+        motion_file: /mnt/amlfs-05/home/tiaxie/code/GRAIL/data/motion_lib_genhoi/terrain_sitting_release_17585_0706/robot
+        multi_thread: false
+        object_motion_file: /mnt/amlfs-05/home/tiaxie/code/GRAIL/data/motion_lib_genhoi/terrain_sitting_release_17585_0706/objects
+        smpl_motion_file: dummy
+        smpl_y_up: true
+        target_fps: 50
+        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
+      num_future_frames: 10
+      pose_range:
+        pitch:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+      resampling_time_range:
+      - 1000000000
+      - 1000000000
+      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
+        - 0.5
+      - - 0
+        - 0
+        - 0
+      - - 0
+        - 0
+        - 0
+      - - 0
+        - 0
+        - 0
+      - - 0
+        - 0
+        - 0
+      smpl_dt_future_ref_frames: 0.02
+      smpl_num_future_frames: 10
+      terrain_aware_sampling: false
+      use_height_map: true
+      use_paired_motions: true
+      velocity_range:
+        pitch:
+        - 0
+        - 0
+        roll:
+        - 0
+        - 0
+        x:
+        - 0
+        - 0
+        'y':
+        - 0
+        - 0
+        yaw:
+        - 0
+        - 0
+        z:
+        - 0
+        - 0
+      vr_3point_body:
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+      - torso_link
+      vr_3point_body_offset:
+      - - 0.18
+        - -0.025
+        - 0
+      - - 0.18
+        - 0.025
+        - 0
+      - - 0
+        - 0
+        - 0.35
+  config:
+    action_clip_value: 20
+    action_transform_module_cfg: null
+    action_transform_module_checkpoint: null
+    add_object: true
+    decimation: 4
+    enable_depth_camera: false
+    env_spacing: 10
+    episode_length_s: 10
+    eval_camera_offset:
+    - 2
+    - 2
+    - 1
+    experiment_dir: ${experiment_dir}
+    flat_motion_dir: null
+    flat_motion_keys_path: null
+    flat_to_terrain_ratio: 0
+    flat_usd_path: /mnt/amlfs-05/home/tiaxie/code/GRAIL/data/motion_lib_genhoi/terrain_sitting_release_17585_0706/object_usd/flat_placeholder.usd
+    meta_action_dim: null
+    needs_policy_atm: true
+    num_envs: ${num_envs}
+    object_mass: null
+    render_results: false
+    rewards:
+      num_critics: 1
+    robot:
+      algo_obs_dim_dict: {}
+      type: g1_model_12
+    obs:
+      obs_dict: {}
+      obs_dims: {}
+      group_obs_dims: {}
+      group_obs_names: {}
+    safe_nan: true
+    save_rendering_dir: ${experiment_dir}/renderings_training
+    sim_dt: 0.005
+    table_offset: null
+    terrain_motion_dir: /mnt/amlfs-05/home/tiaxie/code/GRAIL/data/motion_lib_genhoi/terrain_sitting_release_17585_0706
+    terrain_motion_keys_path: null
+    terrain_type: plane
+    terrain_usd_path: null
+    train_only_events:
+    - push_robot
+    - compliance_force_push
+    viewer_eye:
+    - 4.5
+    - 0
+    - 6
+    viewer_lookat:
+    - 0
+    - 0
+    - 2
+  curriculum:
+    _target_: gear_sonic.envs.manager_env.mdp.curriculum.CurriculumCfg
+  events:
+    _target_: gear_sonic.envs.manager_env.mdp.events.EventCfg
+    add_joint_default_pos: null
+    base_com: null
+    physics_material: null
+    push_robot: null
+    randomize_rigid_body_mass: null
+  observations:
+    _target_: gear_sonic.envs.manager_env.mdp.observations.ObservationsCfg
+    critic:
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PrivilegedCfg
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action
+        history_length: ${critic_actions_history_length}
+      base_ang_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_ang_vel
+        history_length: ${critic_prop_history_length}
+      base_lin_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:base_lin_vel
+        history_length: ${critic_prop_history_length}
+      body_ori:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:robot_body_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
+      command_multi_future:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:command_multi_future
+        params:
+          command_name: motion
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_rel
+        history_length: ${critic_prop_history_length}
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_rel
+        history_length: ${critic_prop_history_length}
+      motion_anchor_ori_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b
+        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
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_b_6d
+        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
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_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
+    policy:
+      _target_: gear_sonic.envs.manager_env.mdp.observations.PolicyCfg
+      actions:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:last_action
+        history_length: ${actor_actions_history_length}
+      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_max: 0.2
+          n_min: -0.2
+      concatenate_terms: true
+      enable_corruption: false
+      gravity_dir:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:gravity_dir
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_max: 0.05
+          n_min: -0.05
+        params:
+          command_name: motion
+      joint_pos:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_pos_rel
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_max: 0.01
+          n_min: -0.01
+      joint_vel:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:joint_vel_rel
+        history_length: ${actor_prop_history_length}
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_max: 0.5
+          n_min: -0.5
+      object_ori_b_6d:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_ori_b_6d
+        noise: null
+        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
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_max: 0.02
+          n_min: -0.02
+        params:
+          command_name: motion
+      object_pos_b:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:object_pos_b
+        noise: null
+        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
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_max: 0.02
+          n_min: -0.02
+        params:
+          command_name: motion
+    tokenizer:
+      _target_: gear_sonic.envs.manager_env.mdp.observations.TokenizerCfg
+      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
+      concatenate_terms: false
+      enable_corruption: false
+      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
+      height_map_z_flat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp.observations:height_map_z_flat
+        params:
+          command_name: motion
+          random: false
+      motion_anchor_ori_b_mf_nonflat:
+        _target_: isaaclab.managers.ObservationTermCfg
+        func: gear_sonic.envs.manager_env.mdp:motion_anchor_ori_b_mf
+        noise:
+          _target_: isaaclab.utils.noise.AdditiveUniformNoiseCfg
+          n_max: 0.05
+          n_min: -0.05
+        params:
+          command_name: motion
+          non_flatten: true
+  recorders:
+    _target_: gear_sonic.envs.manager_env.mdp.recorders.RecordersCfg
+  rewards:
+    _target_: gear_sonic.envs.manager_env.mdp.rewards.RewardsCfg
+    action_rate_l2:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:action_rate_l2
+      weight: -0.1
+    anti_shake_ang_vel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:anti_shake_ang_vel_l2
+      params:
+        body_names:
+        - left_wrist_yaw_link
+        - right_wrist_yaw_link
+        - head_link
+        command_name: motion
+        threshold: 1.5
+      weight: -0.005
+    feet_acc:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:joint_acc_l2
+      params:
+        asset_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          joint_names:
+          - .*ankle.*
+          name: robot
+      weight: -2.5e-07
+    joint_limit:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:joint_pos_limits
+      params:
+        asset_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          joint_names:
+          - .*
+          name: robot
+      weight: -10
+    tracking_anchor_ori:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_anchor_ori_error
+      params:
+        command_name: motion
+        std: 0.4
+      weight: 0.5
+    tracking_anchor_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_anchor_pos_error
+      params:
+        command_name: motion
+        std: 0.3
+      weight: 0.5
+    tracking_body_angvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_body_angvel_error
+      params:
+        command_name: motion
+        std: 3.14
+      weight: 1
+    tracking_body_linvel:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_body_linvel_error
+      params:
+        command_name: motion
+        std: 1
+      weight: 1
+    tracking_relative_body_ori:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_relative_body_ori_error
+      params:
+        command_name: motion
+        std: 0.4
+      weight: 1
+    tracking_relative_body_pos:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_relative_body_pos_error
+      params:
+        command_name: motion
+        std: 0.3
+      weight: 1
+    tracking_vr_5point_local:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_local_vr_5point_error
+      params:
+        command_name: motion
+        std: 0.1
+      weight: 2
+    undesired_contacts:
+      _target_: isaaclab.managers.RewardTermCfg
+      func: gear_sonic.envs.manager_env.mdp:undesired_contacts
+      params:
+        sensor_cfg:
+          _target_: isaaclab.managers.SceneEntityCfg
+          body_names:
+          - ^(?!left_ankle_roll_link$)(?!right_ankle_roll_link$)(?!left_wrist_yaw_link$)(?!right_wrist_yaw_link$)(?!left_elbow_link$)(?!right_elbow_link$).+$
+          name: contact_forces
+        threshold: 1
+      weight: -0.1
+  terminations:
+    _target_: gear_sonic.envs.manager_env.mdp.terminations.TerminationsCfg
+    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: 0.2
+    anchor_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_anchor_height
+      params:
+        command_name: motion
+        down_threshold: 0.75
+        root_height_threshold: 0.5
+        threshold: 0.15
+        threshold_adaptive: true
+    ee_body_pos:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_body_height
+      params:
+        body_names:
+        - left_ankle_roll_link
+        - right_ankle_roll_link
+        - left_wrist_yaw_link
+        - right_wrist_yaw_link
+        command_name: motion
+        down_threshold: 0.75
+        root_height_threshold: 0.5
+        threshold: 0.15
+        threshold_adaptive: true
+    foot_pos_xyz:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:exceeded_body_pos
+      params:
+        body_names:
+        - left_ankle_roll_link
+        - right_ankle_roll_link
+        command_name: motion
+        threshold: 0.2
+    time_out:
+      _target_: isaaclab.managers.TerminationTermCfg
+      func: gear_sonic.envs.manager_env.mdp:tracking_time_out
+      params:
+        command_name: motion
+      time_out: true
+max_retries: 1
+multi_gpu: true
+num_envs: 1024
+num_gpus: 1
+output_dir: ${experiment_dir}/output
+project_name: TRL_G1_Track
+resume: true
+save_dir: ${experiment_dir}/.hydra
+seed: 0
+sim_type: isaacsim
+terrain: ???
+timestamp: ${now:%Y%m%d_%H%M%S}
+trainer:
+  _target_: gear_sonic.trl.trainer.ppo_trainer_aux_loss.TRLAuxLossPPOTrainer
+use_manager_env: true
+use_wandb: true
+wandb:
+  wandb_dir: /tmp
+  wandb_entity: null
+  wandb_group: tnfhtrs17585_release_terrain_sitting_ft_2607061404
+  wandb_id: null
+  wandb_project: null
+  wandb_tags: online
+warm_resume: true

checkpoint/SONIC/models/terrain_release/last.pt

@@ -0,0 +1,3 @@
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+oid sha256:699b17677fa7e6f98ed4cf3dfb99d2fedb56276116a56f2be593aa756fc00120
+size 388075382