| { |
| "schema": "hero_export_v1", |
| "algo": "PPODual", |
| "preset": "hero_example", |
| "hero_arm": "h1", |
| "iteration": 44000, |
| "onnx_file": "model.onnx", |
| "onnx_inputs": [ |
| "actor_obs_lower_body", |
| "actor_obs_upper_body" |
| ], |
| "onnx_output": "action", |
| "onnx_inputs_note": "Both actor branches receive the same exported observation vector.", |
| "history_layout": "frame_major_hero_v1", |
| "history_layout_note": "frame_major_hero_v1: each ONNX input is [frame t-H+1 | ... | frame t], every frame = sorted terms; the graph permutes to holosoma term-major internally. Zero-fill the first H-1 frames at policy start.", |
| "history_padding": "zeros", |
| "actor_obs_layout": { |
| "schema": "holosoma_actor_obs_layout_v1", |
| "term_concat_order": "sorted_by_term_name_within_group", |
| "groups": [ |
| { |
| "name": "actor_obs", |
| "terms": [ |
| "h00_actions", |
| "h01_base_ang_vel", |
| "h02_command_ang_vel", |
| "h03_command_base_height", |
| "h04_command_lin_vel", |
| "h05_command_stand", |
| "h06_command_waist_dofs", |
| "h07_dif_local_rigid_body_pos_ee", |
| "h08_dif_local_rigid_body_rot_ee", |
| "h09_dof_pos", |
| "h10_dof_vel", |
| "h11_projected_gravity", |
| "h12_ref_upper_dof_pos", |
| "h13_roll_and_pitch", |
| "h17_obj_pos_b", |
| "h18_obj_ori_b", |
| "h19_has_object_flag", |
| "h20_ref_root_pose_b", |
| "h21_ref_root_rot_b", |
| "h22_ref_root_height_b" |
| ], |
| "history_length": 5, |
| "dim": 1000, |
| "term_dims": [ |
| 29, |
| 3, |
| 1, |
| 1, |
| 2, |
| 1, |
| 3, |
| 6, |
| 12, |
| 29, |
| 29, |
| 3, |
| 14, |
| 2, |
| 3, |
| 6, |
| 1, |
| 20, |
| 30, |
| 5 |
| ], |
| "frame_dim": 200 |
| } |
| ], |
| "history_layout": "frame_major_hero_v1", |
| "frame_order": "oldest_first" |
| }, |
| "actor_obs_terms": [ |
| "h00_actions", |
| "h01_base_ang_vel", |
| "h02_command_ang_vel", |
| "h03_command_base_height", |
| "h04_command_lin_vel", |
| "h05_command_stand", |
| "h06_command_waist_dofs", |
| "h07_dif_local_rigid_body_pos_ee", |
| "h08_dif_local_rigid_body_rot_ee", |
| "h09_dof_pos", |
| "h10_dof_vel", |
| "h11_projected_gravity", |
| "h12_ref_upper_dof_pos", |
| "h13_roll_and_pitch", |
| "h17_obj_pos_b", |
| "h18_obj_ori_b", |
| "h19_has_object_flag", |
| "h20_ref_root_pose_b", |
| "h21_ref_root_rot_b", |
| "h22_ref_root_height_b" |
| ], |
| "actor_obs_term_dims": [ |
| 29, |
| 3, |
| 1, |
| 1, |
| 2, |
| 1, |
| 3, |
| 6, |
| 12, |
| 29, |
| 29, |
| 3, |
| 14, |
| 2, |
| 3, |
| 6, |
| 1, |
| 20, |
| 30, |
| 5 |
| ], |
| "actor_history_length": 5, |
| "actor_frame_dim": 200, |
| "actor_obs_dim": 1000, |
| "action_contract": "hero_residual_upper_v1: q_target = q_default + action_scales * a + (q_ref - q_default) on dofs [15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28]; residual=on; ref_attr=ref_upper_dof_pos; control_type=P; action_scale=0.25 by_effort_limit_over_p_gain=True; action_scales=[0.350661, 0.350661, 0.547547, 0.350661, 0.438577, 0.438577, 0.350661, 0.350661, 0.547547, 0.350661, 0.438577, 0.438577, 0.547547, 0.438577, 0.438577, 0.438577, 0.438577, 0.438577, 0.438577, 0.438577, 0.074501, 0.074501, 0.438577, 0.438577, 0.438577, 0.438577, 0.438577, 0.074501, 0.074501]; action_clip=100.0; residual_dof_names=['left_shoulder_pitch_joint', 'left_shoulder_roll_joint', 'left_shoulder_yaw_joint', 'left_elbow_joint', 'left_wrist_roll_joint', 'left_wrist_pitch_joint', 'left_wrist_yaw_joint', 'right_shoulder_pitch_joint', 'right_shoulder_roll_joint', 'right_shoulder_yaw_joint', 'right_elbow_joint', 'right_wrist_roll_joint', 'right_wrist_pitch_joint', 'right_wrist_yaw_joint']", |
| "action_contract_detail": { |
| "action_contract": "hero_residual_upper_v1", |
| "residual_upper_body_action": true, |
| "residual_dof_indices": [ |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28 |
| ], |
| "residual_dof_names": [ |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint" |
| ], |
| "ref_attr": "ref_upper_dof_pos", |
| "action_scales": [ |
| 0.3506614863872528, |
| 0.3506614863872528, |
| 0.5475465059280396, |
| 0.3506614863872528, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.3506614863872528, |
| 0.3506614863872528, |
| 0.5475465059280396, |
| 0.3506614863872528, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.5475465059280396, |
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| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.07450087368488312, |
| 0.07450087368488312, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.07450087368488312, |
| 0.07450087368488312 |
| ], |
| "action_scale": 0.25, |
| "action_scales_by_effort_limit_over_p_gain": true, |
| "action_clip_value": 100.0, |
| "control_type": "P" |
| }, |
| "action_split": [ |
| 15, |
| 14 |
| ], |
| "action_groups": { |
| "lower_body": [ |
| "left_hip_pitch_joint", |
| "left_hip_roll_joint", |
| "left_hip_yaw_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint", |
| "right_hip_pitch_joint", |
| "right_hip_roll_joint", |
| "right_hip_yaw_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_joint" |
| ], |
| "upper_body": [ |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint" |
| ] |
| }, |
| "body_keys": [ |
| "lower_body", |
| "upper_body" |
| ], |
| "dof_names": [ |
| "left_hip_pitch_joint", |
| "left_hip_roll_joint", |
| "left_hip_yaw_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint", |
| "right_hip_pitch_joint", |
| "right_hip_roll_joint", |
| "right_hip_yaw_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint" |
| ], |
| "kp": [ |
| 99.098427777, |
| 99.098427777, |
| 40.179238471, |
| 99.098427777, |
| 28.501246196, |
| 28.501246196, |
| 99.098427777, |
| 99.098427777, |
| 40.179238471, |
| 99.098427777, |
| 28.501246196, |
| 28.501246196, |
| 40.179238471, |
| 28.501246196, |
| 28.501246196, |
| 14.250623098, |
| 14.250623098, |
| 14.250623098, |
| 14.250623098, |
| 14.250623098, |
| 16.778327481, |
| 16.778327481, |
| 14.250623098, |
| 14.250623098, |
| 14.250623098, |
| 14.250623098, |
| 14.250623098, |
| 16.778327481, |
| 16.778327481 |
| ], |
| "kd": [ |
| 6.308801854, |
| 6.308801854, |
| 2.557889765, |
| 6.308801854, |
| 1.814445687, |
| 1.814445687, |
| 6.308801854, |
| 6.308801854, |
| 2.557889765, |
| 6.308801854, |
| 1.814445687, |
| 1.814445687, |
| 2.557889765, |
| 1.814445687, |
| 1.814445687, |
| 0.907222843, |
| 0.907222843, |
| 0.907222843, |
| 0.907222843, |
| 0.907222843, |
| 1.068141502, |
| 1.068141502, |
| 0.907222843, |
| 0.907222843, |
| 0.907222843, |
| 0.907222843, |
| 0.907222843, |
| 1.068141502, |
| 1.068141502 |
| ], |
| "action_scale": [ |
| 0.3506614863872528, |
| 0.3506614863872528, |
| 0.5475465059280396, |
| 0.3506614863872528, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.3506614863872528, |
| 0.3506614863872528, |
| 0.5475465059280396, |
| 0.3506614863872528, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.5475465059280396, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.07450087368488312, |
| 0.07450087368488312, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.4385772943496704, |
| 0.07450087368488312, |
| 0.07450087368488312 |
| ], |
| "default_dof_pos": [ |
| -0.31200000643730164, |
| 0.0, |
| 0.0, |
| 0.6690000295639038, |
| -0.3630000054836273, |
| 0.0, |
| -0.31200000643730164, |
| 0.0, |
| 0.0, |
| 0.6690000295639038, |
| -0.3630000054836273, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.20000000298023224, |
| 0.20000000298023224, |
| 0.0, |
| 0.6000000238418579, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.20000000298023224, |
| -0.20000000298023224, |
| 0.0, |
| 0.6000000238418579, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "effort_limit": [ |
| 139.0, |
| 139.0, |
| 88.0, |
| 139.0, |
| 50.0, |
| 50.0, |
| 139.0, |
| 139.0, |
| 88.0, |
| 139.0, |
| 50.0, |
| 50.0, |
| 88.0, |
| 50.0, |
| 50.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 5.0, |
| 5.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 5.0, |
| 5.0 |
| ], |
| "dof_pos_limits": { |
| "lower": [ |
| -2.5307, |
| -0.5236, |
| -2.7576, |
| -0.087267, |
| -0.87267, |
| -0.2618, |
| -2.5307, |
| -2.9671, |
| -2.7576, |
| -0.087267, |
| -0.87267, |
| -0.2618, |
| -2.618, |
| -0.52, |
| -0.52, |
| -3.0892, |
| -1.5882, |
| -2.618, |
| -1.0472, |
| -1.972222054, |
| -1.61443, |
| -1.61443, |
| -3.0892, |
| -2.2515, |
| -2.618, |
| -1.0472, |
| -1.972222054, |
| -1.61443, |
| -1.61443 |
| ], |
| "upper": [ |
| 2.8798, |
| 2.9671, |
| 2.7576, |
| 2.8798, |
| 0.5236, |
| 0.2618, |
| 2.8798, |
| 0.5236, |
| 2.7576, |
| 2.8798, |
| 0.5236, |
| 0.2618, |
| 2.618, |
| 0.52, |
| 0.52, |
| 2.6704, |
| 2.2515, |
| 2.618, |
| 2.0944, |
| 1.972222054, |
| 1.61443, |
| 1.61443, |
| 2.6704, |
| 1.5882, |
| 2.618, |
| 2.0944, |
| 1.972222054, |
| 1.61443, |
| 1.61443 |
| ] |
| }, |
| "has_object": true, |
| "object_terms": [ |
| "h17_obj_pos_b", |
| "h18_obj_ori_b", |
| "h19_has_object_flag" |
| ], |
| "object_urdf_path": null, |
| "robot_urdf_path": "assets/robots/g1_modified/g1_29dof_dex3fixed_hero.urdf", |
| "init_noise_std": { |
| "lower_body": 0.8, |
| "upper_body": 0.6 |
| }, |
| "policy_dt": 0.02, |
| "clip_observations": 100.0, |
| "hero_command": { |
| "ref_lookahead_frames": 1, |
| "h_cmd_default": 0.75, |
| "h_cmd_min": 0.15, |
| "stand_speed_thr": 0.15, |
| "stand_yaw_rate_thr": 0.2, |
| "stand_window_s": 0.5, |
| "zero_waist_when_walking": false, |
| "h_offset_from_clip": true, |
| "stand_flag_mode": "from_clip", |
| "object_box_side": 0.3, |
| "object_box_tol": 0.02, |
| "max_start_bottom_z_m": 0.12 |
| }, |
| "wandb_run_path": null, |
| "command_ranges": null, |
| "h20_future_steps": [ |
| 0, |
| 5, |
| 10, |
| 15, |
| 20 |
| ], |
| "h21_future_steps": [ |
| 0, |
| 5, |
| 10, |
| 15, |
| 20 |
| ], |
| "h22_future_steps": [ |
| 0, |
| 5, |
| 10, |
| 15, |
| 20 |
| ], |
| "anchor_terms": { |
| "h20_ref_root_pose_b": { |
| "dim": 20, |
| "per_frame_dim": 4, |
| "future_steps": [ |
| 0, |
| 5, |
| 10, |
| 15, |
| 20 |
| ], |
| "noise": { |
| "noise_odom_bias_xy_m": 0.02, |
| "noise_odom_bias_yaw_rad": 0.017453292519943295, |
| "noise_odom_walk_xy_m": 0.005, |
| "noise_odom_walk_yaw_rad": 0.003490658503988659 |
| } |
| }, |
| "h21_ref_root_rot_b": { |
| "dim": 30, |
| "per_frame_dim": 6, |
| "future_steps": [ |
| 0, |
| 5, |
| 10, |
| 15, |
| 20 |
| ], |
| "noise": { |
| "noise_odom_bias_roll_pitch_rad": 0.008726646259971648, |
| "noise_odom_bias_yaw_rad": 0.017453292519943295, |
| "noise_odom_walk_yaw_rad": 0.003490658503988659 |
| } |
| }, |
| "h22_ref_root_height_b": { |
| "dim": 5, |
| "per_frame_dim": 1, |
| "future_steps": [ |
| 0, |
| 5, |
| 10, |
| 15, |
| 20 |
| ], |
| "noise": { |
| "noise_odom_bias_z_m": 0.01, |
| "noise_odom_walk_z_m": 0.002 |
| } |
| } |
| }, |
| "frame_major_to_term_major_perm": [ |
| 0, |
| 1, |
| 2, |
| 3, |
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| 201, |
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| 29, |
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| 33, |
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| 433, |
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| 234, |
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| 637, |
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