{
  "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",
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    "action_scale": 0.25,
    "action_scales_by_effort_limit_over_p_gain": true,
    "action_clip_value": 100.0,
    "control_type": "P"
  },
  "action_split": [
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  ],
  "action_groups": {
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      "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": [
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    "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"
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  "kp": [
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  "default_dof_pos": [
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  "object_urdf_path": null,
  "robot_urdf_path": "assets/robots/g1_modified/g1_29dof_dex3fixed_hero.urdf",
  "init_noise_std": {
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    "upper_body": 0.6
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  "hero_command": {
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    "object_box_side": 0.3,
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  "h20_future_steps": [
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}