Archive four reward-selected WUJI2 FullDR final checkpoints with explicit missing dependencies

Add marker005/009/011 and scissors_new006 source checkpoints, configs, context, resume receipts, dependency reports and versioned indexes. Existing data and Stage1/Stage2 manifests remain byte-identical. No eval executed and no mismatching H5 is declared as the training parent.

README.md

@@ -12,6 +12,24 @@ Current selection: **35 trajectories = 20 Phone + 10 Marker + 5 scissors**.
 Phone data, checkpoints, BC artifacts and original references are preserved unchanged.
 Marker/scissors contain only the 15 user-selected Stage1 demonstrations listed below.
 
+
+## Selected WUJI2 FullDR checkpoints
+
+Four unchanged final checkpoints and their original configs/context/resume records are now archived.
+**This is a checkpoint-only archive: exact training H5 inputs differ from the existing Stage2
+release, so evaluation dependencies remain incomplete. No evaluation was started.**
+Reward >1 is a training-metric filter, not a policy-success claim.
+
+| Trajectory | FullDR run / checkpoint | Keypoint reward | Readiness |
+|---|---|---:|---|
+| marker_005 | [rawbvfp3](objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/manifest.json) / [model_9998.pt](objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/checkpoints/model_9998.pt) | 1.047750 | Missing matching training inputs |
+| marker_009 | [jdfgpdaq](objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/manifest.json) / [model_9998.pt](objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/checkpoints/model_9998.pt) | 1.008895 | Missing matching training inputs |
+| marker_011 | [i277x4dj](objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/manifest.json) / [model_9998.pt](objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/checkpoints/model_9998.pt) | 1.004174 | Missing matching training inputs |
+| scissors_new_006 | [58i6zoqd](objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/manifest.json) / [model_9998.pt](objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/checkpoints/model_9998.pt) | 1.070471 | Missing matching training inputs |
+
+See [archive manifest](provenance/fulldr-reward-selected4-20261011-v1/release_manifest.json). Original Phone and Stage1/Stage2 files,
+including their immutable manifests and download inventories, are unchanged.
+
 ## Selected Marker and scissors
 
 - Marker: `marker_003` through `marker_012`.
@@ -34,12 +52,12 @@ provenance/selected15-20261008-v1/         # selected manifest, portable assets/
 
 ## Download only these 15 Stage1/Stage2 trajectories
 
-Set `REV` to this dataset's full 40-character commit SHA from the Files and versions page.
+For the frozen Stage1/Stage2 release below, set `REV=7e6bef8f22540f90732f8053ccf578a44b367725`.
 The script requires an immutable revision and verifies every downloaded SHA256.
 
 ```bash
 python -m pip install huggingface_hub
-REV=<full-HF-commit-sha>
+REV=7e6bef8f22540f90732f8053ccf578a44b367725
 hf download FlappyHimself/reorientation-artifacts --repo-type dataset --revision "$REV" \
   provenance/selected15-20261008-v1/download_selected15.py --local-dir selected15
 python selected15/provenance/selected15-20261008-v1/download_selected15.py --revision "$REV" --output selected15

catalog.json

@@ -1589,6 +1589,11 @@
                   "path": "objects/marker/trajectories/marker_005/wuji2/stage2/selected15-20261008-v1/handoff.json",
                   "sha256": "2545f58d3921e9d507c8d273e9504d1b614770ce2737a8b3c7556eea6c6adb0e",
                   "bytes": 1418
+                },
+                "stage3_archives": {
+                  "path": "objects/marker/trajectories/marker_005/wuji2/stage3/index.json",
+                  "sha256": "4b6a0dfb9763bd7576676038cd1e4b9ee15a45e307e918bc9b2750a8147f9baf",
+                  "bytes": 591
                 }
               }
             },
@@ -1833,6 +1838,11 @@
                   "path": "objects/marker/trajectories/marker_009/wuji2/stage2/selected15-20261008-v1/handoff.json",
                   "sha256": "1f3243b6db26ded3397d92b690457332b6ec9fe334178a9d2d36ba1fe0e5b699",
                   "bytes": 1417
+                },
+                "stage3_archives": {
+                  "path": "objects/marker/trajectories/marker_009/wuji2/stage3/index.json",
+                  "sha256": "67c9d997c58a961c1086f85ca91762c18a54d2fc618017201b327269cd3c5def",
+                  "bytes": 591
                 }
               }
             },
@@ -1958,6 +1968,11 @@
                   "path": "objects/marker/trajectories/marker_011/wuji2/stage2/selected15-20261008-v1/handoff.json",
                   "sha256": "f47277ca9c926670fc9e6fe808bbe85e084bf0923390785ae24777980d8a9e40",
                   "bytes": 1417
+                },
+                "stage3_archives": {
+                  "path": "objects/marker/trajectories/marker_011/wuji2/stage3/index.json",
+                  "sha256": "ef5bd337c50603337ee60dc9ab27b67c46569015d23d7274380b2d0de79cfb4c",
+                  "bytes": 591
                 }
               }
             },
@@ -2150,6 +2165,11 @@
                   "path": "objects/scissors/trajectories/scissors_new_006/wuji2/stage2/selected15-20261008-v1/handoff.json",
                   "sha256": "5845f9b8aa3c5289720a82e2a7ab902c70d3d0c5edd593dfdf22eabfbe63c18d",
                   "bytes": 1437
+                },
+                "stage3_archives": {
+                  "path": "objects/scissors/trajectories/scissors_new_006/wuji2/stage3/index.json",
+                  "sha256": "c394e588adc7adec63dc82515e9d32ef818cb9293a61894feac952384180961a",
+                  "bytes": 605
                 }
               }
             },
@@ -2371,7 +2391,8 @@
     "selected_stage12_release": {
       "path": "provenance/selected15-20261008-v1/release_manifest.json",
       "sha256": "f43da0810dae25f6c02d2d713d40eb3c9fa48324c0ec8a3bd95b7acc3482013c",
-      "bytes": 40029
+      "bytes": 40029,
+      "revision": "7e6bef8f22540f90732f8053ccf578a44b367725"
     },
     "robot_availability": {
       "sharpa": "15_KINEMATIC_REFERENCES_QA_MIXED",
@@ -2389,11 +2410,22 @@
       "Stage2 QA manifests can reference original metadata hashes; those originals are preserved in legacy_metadata and old paths.",
       "Catalog trajectory_manifest E4 NOT_MATERIALIZED fields predate later evaluation directories; do not use stale status to suppress existing evidence.",
       "Original repository IDs in immutable cards/manifests remain provenance; canonical generated index must identify renamed repo."
-    ]
+    ],
+    "stage3_archive_release": {
+      "path": "provenance/fulldr-reward-selected4-20261011-v1/release_manifest.json",
+      "sha256": "31b38fc44907df964914b34ac110f47e42da22ca4852702386712f5efcac8f9a",
+      "bytes": 4186
+    }
   },
   "active_release": {
     "path": "provenance/selected15-20261008-v1/release_manifest.json",
     "sha256": "f43da0810dae25f6c02d2d713d40eb3c9fa48324c0ec8a3bd95b7acc3482013c",
-    "bytes": 40029
+    "bytes": 40029,
+    "revision": "7e6bef8f22540f90732f8053ccf578a44b367725"
+  },
+  "stage3_archive_release": {
+    "path": "provenance/fulldr-reward-selected4-20261011-v1/release_manifest.json",
+    "sha256": "31b38fc44907df964914b34ac110f47e42da22ca4852702386712f5efcac8f9a",
+    "bytes": 4186
   }
 }

objects/marker/trajectories/marker_005/wuji2/stage3/index.json

@@ -0,0 +1,18 @@
+{
+  "schema": "reorientation_stage3_archive_index_v1",
+  "take": "marker_005",
+  "embodiment": "wuji2",
+  "runs": [
+    {
+      "run_id": "rawbvfp3",
+      "manifest": {
+        "path": "objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/manifest.json",
+        "sha256": "df177fbe57f126fd5e334c3731e6b76930d0c5984d36187d889d9db6625198a3",
+        "bytes": 5060
+      },
+      "status": "CHECKPOINT_ARCHIVED_DEPENDENCIES_INCOMPLETE",
+      "evaluation_ready": false
+    }
+  ],
+  "scope": "Additional Stage3 archives; original Stage1/Stage2 trajectory manifest remains unchanged"
+}

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/README.md

@@ -0,0 +1,22 @@
+# marker_005 / WUJI2 FullDR / rawbvfp3
+
+**CHECKPOINT_ARCHIVED — INCOMPLETE_FOR_EVALUATION**
+
+Final model: `checkpoints/model_9998.pt`. Source [W&B run](https://wandb.ai/dfnet/dex-retarget/runs/rawbvfp3).
+Source FullDR stage:5000 additional PPO updates, resumed iteration4999,
+final saved iteration9998. This is the final model, not a best-reward checkpoint.
+Selection: `Episode_Reward/object_keypoints_pos_error_exp` at logged step9998 = **1.04775023 > 1**.
+Reward selection is not an evaluation pass.
+
+Checkpoint SHA256: `ad67ad872d895d2feb61805c433cb6f97f12f44d58a3a451a6c5f9825d9c21b6`.
+The uploaded file is unchanged and includes the original serialized policy state.
+Exact source configurations, context, resume record and receipt accompany it.
+
+## Missing evaluation inputs
+
+The actual training retarget H5 has SHA256 `f25e1c5764fd4462f4428651e090d40ccc5a642c44ea6ffc7f8147720bef3239`.
+The existing same-trajectory HF Stage2 H5 has SHA256 `f57e1bbe8259d38dba7a0a6b259008d329a0d1ebc65288e8b189da0ca53a4156`.
+**They are different artifacts. Do not silently substitute the existing Stage2.**
+See [dependencies](dependencies.json) for exact human/retarget H5, geometry,
+source bundle and robot requirements. Historical paths are source provenance only.
+This release does not include newly run evaluation,32-seed metrics or rollout videos.

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/checkpoints/model_9998.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad67ad872d895d2feb61805c433cb6f97f12f44d58a3a451a6c5f9825d9c21b6
+size 20801589

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/agent.yaml

@@ -0,0 +1,52 @@
+seed: 1
+device: cuda:0
+num_steps_per_env: 24
+max_iterations: 5000
+empirical_normalization: null
+obs_groups: {}
+clip_actions: null
+save_interval: 500
+experiment_name: wuji2_phone_capture_v2
+run_name: fulldr
+logger: wandb
+neptune_project: dex-retarget
+wandb_project: dex-retarget
+resume: true
+load_run: .*
+load_checkpoint: model_.*.pt
+class_name: OnPolicyRunner
+policy:
+  class_name: CustomActorCritic
+  init_noise_std: 0.5
+  noise_std_type: scalar
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  actor_hidden_dims:
+  - 1024
+  - 512
+  - 256
+  - 128
+  critic_hidden_dims:
+  - 1024
+  - 512
+  - 256
+  - 128
+  activation: elu
+  zero_init_actor_last_layer: true
+algorithm:
+  class_name: PPO
+  num_learning_epochs: 5
+  num_mini_batches: 4
+  learning_rate: 0.001
+  schedule: adaptive
+  gamma: 0.998
+  lam: 0.95
+  entropy_coef: 0.002
+  desired_kl: 0.01
+  max_grad_norm: 1.0
+  value_loss_coef: 1.0
+  use_clipped_value_loss: true
+  clip_param: 0.2
+  normalize_advantage_per_mini_batch: false
+  rnd_cfg: null
+  symmetry_cfg: null

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/config.json

@@ -0,0 +1,1934 @@
+{
+  "alg_cfg": {
+    "lam": 0.95,
+    "gamma": 0.998,
+    "rnd_cfg": null,
+    "schedule": "adaptive",
+    "clip_param": 0.2,
+    "desired_kl": 0.01,
+    "entropy_coef": 0.002,
+    "symmetry_cfg": null,
+    "learning_rate": 0.001,
+    "max_grad_norm": 1,
+    "value_loss_coef": 1,
+    "num_mini_batches": 4,
+    "num_learning_epochs": 5,
+    "use_clipped_value_loss": true,
+    "normalize_advantage_per_mini_batch": false
+  },
+  "env_cfg": {
+    "xr": null,
+    "sim": {
+      "dt": 0.008333333333333333,
+      "physx": {
+        "enable_ccd": false,
+        "solver_type": 1,
+        "gpu_heap_capacity": 67108864,
+        "enable_stabilization": false,
+        "gpu_max_num_partitions": 1,
+        "gpu_collision_stack_size": 268435456,
+        "gpu_temp_buffer_capacity": 16777216,
+        "bounce_threshold_velocity": 0.2,
+        "friction_offset_threshold": 0.01,
+        "gpu_max_particle_contacts": 1048576,
+        "gpu_max_rigid_patch_count": 8388608,
+        "gpu_max_soft_body_contacts": 1048576,
+        "enable_enhanced_determinism": false,
+        "gpu_max_rigid_contact_count": 8388608,
+        "max_position_iteration_count": 192,
+        "max_velocity_iteration_count": 1,
+        "min_position_iteration_count": 1,
+        "min_velocity_iteration_count": 0,
+        "friction_correlation_distance": 0.00625,
+        "gpu_found_lost_pairs_capacity": 2097152,
+        "solve_articulation_contact_last": false,
+        "gpu_total_aggregate_pairs_capacity": 2097152,
+        "gpu_found_lost_aggregate_pairs_capacity": 33554432
+      },
+      "device": "cuda:0",
+      "render": {
+        "dlss_mode": null,
+        "enable_dlssg": null,
+        "carb_settings": null,
+        "enable_shadows": null,
+        "rendering_mode": null,
+        "antialiasing_mode": null,
+        "samples_per_pixel": null,
+        "enable_dl_denoiser": null,
+        "enable_reflections": null,
+        "enable_translucency": null,
+        "enable_direct_lighting": null,
+        "enable_ambient_occlusion": null,
+        "enable_global_illumination": null,
+        "dome_light_upper_lower_strategy": null
+      },
+      "gravity": [
+        0,
+        0,
+        -9.81
+      ],
+      "use_fabric": true,
+      "render_interval": 4,
+      "physics_material": {
+        "func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material",
+        "restitution": 0,
+        "static_friction": 1,
+        "dynamic_friction": 1,
+        "friction_combine_mode": "average",
+        "restitution_combine_mode": "average",
+        "compliant_contact_damping": 0,
+        "compliant_contact_stiffness": 0
+      },
+      "physics_prim_path": "/physicsScene",
+      "create_stage_in_memory": false,
+      "enable_scene_query_support": false
+    },
+    "seed": 1,
+    "scene": {
+      "light": {
+        "spawn": {
+          "func": "isaaclab.sim.spawners.lights.lights:spawn_light",
+          "color": [
+            0.75,
+            0.75,
+            0.75
+          ],
+          "visible": true,
+          "exposure": 0,
+          "intensity": 2000,
+          "normalize": false,
+          "prim_type": "DomeLight",
+          "texture_file": null,
+          "semantic_tags": null,
+          "texture_format": "automatic",
+          "copy_from_source": true,
+          "color_temperature": 6500,
+          "visible_in_primary_ray": true,
+          "enable_color_temperature": false
+        },
+        "debug_vis": false,
+        "prim_path": "/World/Light",
+        "class_type": null,
+        "init_state": {
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+            0,
+            0,
+            0
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+            0,
+            0,
+            0
+          ]
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+        "collision_group": 0
+      },
+      "robot": {
+        "spawn": {
+          "func": "regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating",
+          "scale": null,
+          "visible": true,
+          "usd_path": "/data/dexr_b1/cur/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+          "variants": null,
+          "mass_props": null,
+          "rigid_props": {
+            "linear_damping": null,
+            "angular_damping": null,
+            "disable_gravity": true,
+            "sleep_threshold": null,
+            "kinematic_enabled": null,
+            "rigid_body_enabled": null,
+            "max_contact_impulse": null,
+            "max_linear_velocity": null,
+            "max_angular_velocity": null,
+            "retain_accelerations": null,
+            "stabilization_threshold": null,
+            "enable_gyroscopic_forces": null,
+            "max_depenetration_velocity": 5,
+            "solver_position_iteration_count": null,
+            "solver_velocity_iteration_count": null
+          },
+          "semantic_tags": null,
+          "collision_props": {
+            "rest_offset": 0.0012,
+            "contact_offset": 0.0015,
+            "collision_enabled": null,
+            "torsional_patch_radius": null,
+            "min_torsional_patch_radius": null
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+          "visual_material": null,
+          "copy_from_source": true,
+          "deformable_props": null,
+          "joint_drive_props": null,
+          "articulation_props": {
+            "fix_root_link": false,
+            "sleep_threshold": 0.005,
+            "articulation_enabled": null,
+            "enabled_self_collisions": true,
+            "stabilization_threshold": 0.0005,
+            "solver_position_iteration_count": 32,
+            "solver_velocity_iteration_count": 1
+          },
+          "fixed_tendons_props": null,
+          "visual_material_path": "material",
+          "spatial_tendons_props": null,
+          "activate_contact_sensors": true
+        },
+        "actuators": {
+          "fingers": {
+            "damping": null,
+            "armature": null,
+            "friction": null,
+            "stiffness": null,
+            "class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator",
+            "effort_limit": null,
+            "velocity_limit": null,
+            "dynamic_friction": null,
+            "effort_limit_sim": null,
+            "joint_names_expr": [
+              "r_thumb_cmc_flex",
+              "r_thumb_cmc_abd",
+              "r_thumb_mcp",
+              "r_thumb_ip",
+              "r_index_finger_mcp_flex",
+              "r_index_finger_mcp_abd",
+              "r_index_finger_pip",
+              "r_index_finger_dip",
+              "r_middle_finger_mcp_flex",
+              "r_middle_finger_mcp_abd",
+              "r_middle_finger_pip",
+              "r_middle_finger_dip",
+              "r_ring_finger_mcp_flex",
+              "r_ring_finger_mcp_abd",
+              "r_ring_finger_pip",
+              "r_ring_finger_dip",
+              "r_pinky_mcp_flex",
+              "r_pinky_mcp_abd",
+              "r_pinky_pip",
+              "r_pinky_dip"
+            ],
+            "viscous_friction": null,
+            "velocity_limit_sim": null
+          }
+        },
+        "debug_vis": false,
+        "prim_path": "/World/envs/env_.*/Robot",
+        "class_type": "isaaclab.assets.articulation.articulation:Articulation",
+        "init_state": {
+          "pos": [
+            0,
+            0,
+            0
+          ],
+          "rot": [
+            1,
+            0,
+            0,
+            0
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+            0,
+            0,
+            0
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+          "lin_vel": [
+            0,
+            0,
+            0
+          ],
+          "joint_pos": {
+            "r_thumb_ip": 0,
+            "r_pinky_dip": 0,
+            "r_pinky_pip": 0,
+            "r_thumb_mcp": 0,
+            "r_pinky_mcp_abd": 0,
+            "r_thumb_cmc_abd": 0,
+            "r_pinky_mcp_flex": 0,
+            "r_thumb_cmc_flex": 0,
+            "r_ring_finger_dip": 0,
+            "r_ring_finger_pip": 0,
+            "r_index_finger_dip": 0,
+            "r_index_finger_pip": 0,
+            "r_middle_finger_dip": 0,
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+            "r_ring_finger_mcp_abd": 0,
+            "r_index_finger_mcp_abd": 0,
+            "r_ring_finger_mcp_flex": 0,
+            "r_index_finger_mcp_flex": 0,
+            "r_middle_finger_mcp_abd": 0,
+            "r_middle_finger_mcp_flex": 0
+          },
+          "joint_vel": {
+            ".*": 0
+          }
+        },
+        "collision_group": 0,
+        "articulation_root_prim_path": "/r_wrist",
+        "soft_joint_pos_limit_factor": 1,
+        "actuator_value_resolution_debug_print": false
+      },
+      "table": null,
+      "object": {
+        "spawn": {
+          "func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd",
+          "scale": null,
+          "visible": true,
+          "usd_path": "/data/dexr_b1/cur/data/new_data_batch1/objects/marker/object.usda",
+          "variants": null,
+          "mass_props": null,
+          "rigid_props": {
+            "linear_damping": null,
+            "angular_damping": null,
+            "disable_gravity": false,
+            "sleep_threshold": 0.005,
+            "kinematic_enabled": false,
+            "rigid_body_enabled": null,
+            "max_contact_impulse": null,
+            "max_linear_velocity": null,
+            "max_angular_velocity": null,
+            "retain_accelerations": null,
+            "stabilization_threshold": 0.0025,
+            "enable_gyroscopic_forces": true,
+            "max_depenetration_velocity": 5,
+            "solver_position_iteration_count": 8,
+            "solver_velocity_iteration_count": 0
+          },
+          "semantic_tags": null,
+          "collision_props": null,
+          "visual_material": null,
+          "copy_from_source": true,
+          "deformable_props": null,
+          "joint_drive_props": null,
+          "articulation_props": {
+            "fix_root_link": null,
+            "sleep_threshold": null,
+            "articulation_enabled": false,
+            "enabled_self_collisions": null,
+            "stabilization_threshold": null,
+            "solver_position_iteration_count": null,
+            "solver_velocity_iteration_count": null
+          },
+          "fixed_tendons_props": null,
+          "visual_material_path": "material",
+          "spatial_tendons_props": null,
+          "activate_contact_sensors": true
+        },
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+    "include_contact_forces_in_critic_obs": false
+  },
+  "log_dir": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/marker_005/fulldr/training",
+  "policy_cfg": {
+    "activation": "elu",
+    "init_noise_std": 0.5,
+    "noise_std_type": "scalar",
+    "actor_hidden_dims": [
+      1024,
+      512,
+      256,
+      128
+    ],
+    "critic_hidden_dims": [
+      1024,
+      512,
+      256,
+      128
+    ],
+    "actor_obs_normalization": true,
+    "critic_obs_normalization": true,
+    "zero_init_actor_last_layer": true
+  },
+  "runner_cfg": {
+    "seed": 1,
+    "device": "cuda:0",
+    "logger": "wandb",
+    "policy": {
+      "activation": "elu",
+      "init_noise_std": 0.5,
+      "noise_std_type": "scalar",
+      "actor_hidden_dims": [
+        1024,
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        1024,
+        512,
+        256,
+        128
+      ],
+      "actor_obs_normalization": true,
+      "critic_obs_normalization": true,
+      "zero_init_actor_last_layer": true
+    },
+    "resume": true,
+    "load_run": ".*",
+    "run_name": "fulldr",
+    "algorithm": {
+      "lam": 0.95,
+      "gamma": 0.998,
+      "rnd_cfg": null,
+      "schedule": "adaptive",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.002,
+      "symmetry_cfg": null,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1,
+      "value_loss_coef": 1,
+      "num_mini_batches": 4,
+      "num_learning_epochs": 5,
+      "use_clipped_value_loss": true,
+      "normalize_advantage_per_mini_batch": false
+    },
+    "class_name": "OnPolicyRunner",
+    "obs_groups": {
+      "critic": [
+        "critic"
+      ],
+      "policy": [
+        "policy"
+      ]
+    },
+    "clip_actions": null,
+    "save_interval": 500,
+    "wandb_project": "dex-retarget",
+    "max_iterations": 5000,
+    "experiment_name": "wuji2_phone_capture_v2",
+    "load_checkpoint": "model_.*.pt",
+    "neptune_project": "dex-retarget",
+    "num_steps_per_env": 24,
+    "empirical_normalization": null
+  }
+}

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/context.json

@@ -0,0 +1,56 @@
+{
+  "bundle": {
+    "path": "data/new_data_batch1/manifest.json",
+    "sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd"
+  },
+  "capture_id": "marker_005",
+  "control_hz": 30.0,
+  "control_motion_steps": 366,
+  "geometry": {
+    "keypoints": {
+      "path": "data/new_data_batch1/objects/marker/keypoints.npy",
+      "sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f"
+    },
+    "properties": {
+      "path": "data/new_data_batch1/objects/marker/properties.json",
+      "sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5"
+    },
+    "urdf": {
+      "path": "data/new_data_batch1/objects/marker/object.urdf",
+      "sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf"
+    },
+    "usd": {
+      "path": "data/new_data_batch1/objects/marker/object.usda",
+      "sha256": "23472b1831c9051fef037a4981c6108ef0ea626ef3c186889935486f19330dfb"
+    },
+    "visual": {
+      "path": "data/new_data_batch1/objects/marker/visual.obj",
+      "sha256": "435a710afb84d4a3121f0389f60b1424fed93958cac07ce38d1e2e1317814203"
+    }
+  },
+  "hold_steps": 15,
+  "human": {
+    "path": "data/new_data_batch1/cases/marker_005/human.h5",
+    "sha256": "e0ad5f15733d5dd691842fd99329ad3202d6e73a9b1b5bb3404da9c2a40aee16"
+  },
+  "robot_usd": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+  "schema": "dex_prepared_training_context_v1",
+  "source_frames": 732,
+  "source_hz": 60.0,
+  "terminal_bootstrap_protocol": "WUJI2-TerminalBootstrap-20261008-v1",
+  "training_only": true,
+  "trajectory": {
+    "path": "data/new_data_batch1/cases/marker_005/trajectory.h5",
+    "sha256": "f25e1c5764fd4462f4428651e090d40ccc5a642c44ea6ffc7f8147720bef3239"
+  },
+  "workspace_lower_m": [
+    0.015044226410018798,
+    0.23908823374498103,
+    0.23790854592628805
+  ],
+  "workspace_upper_m": [
+    0.11351838070887585,
+    0.36307926050196027,
+    0.3551272232626216
+  ]
+}

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/env.yaml

@@ -0,0 +1,1508 @@
+viewer:
+  eye: !!python/tuple
+  - 0.45
+  - -0.45
+  - 0.32
+  lookat: !!python/tuple
+  - 0.0
+  - 0.0
+  - 0.0
+  cam_prim_path: /OmniverseKit_Persp
+  resolution: !!python/tuple
+  - 1280
+  - 720
+  origin_type: world
+  env_index: 0
+  asset_name: null
+  body_name: null
+sim:
+  physics_prim_path: /physicsScene
+  device: cuda:0
+  dt: 0.008333333333333333
+  render_interval: 4
+  gravity: !!python/tuple
+  - 0.0
+  - 0.0
+  - -9.81
+  enable_scene_query_support: false
+  use_fabric: true
+  physx:
+    solver_type: 1
+    min_position_iteration_count: 1
+    max_position_iteration_count: 192
+    min_velocity_iteration_count: 0
+    max_velocity_iteration_count: 1
+    enable_ccd: false
+    enable_stabilization: false
+    enable_enhanced_determinism: false
+    bounce_threshold_velocity: 0.2
+    friction_offset_threshold: 0.01
+    friction_correlation_distance: 0.00625
+    gpu_max_rigid_contact_count: 8388608
+    gpu_max_rigid_patch_count: 8388608
+    gpu_found_lost_pairs_capacity: 2097152
+    gpu_found_lost_aggregate_pairs_capacity: 33554432
+    gpu_total_aggregate_pairs_capacity: 2097152
+    gpu_collision_stack_size: 268435456
+    gpu_heap_capacity: 67108864
+    gpu_temp_buffer_capacity: 16777216
+    gpu_max_num_partitions: 1
+    gpu_max_soft_body_contacts: 1048576
+    gpu_max_particle_contacts: 1048576
+    solve_articulation_contact_last: false
+  physics_material:
+    func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
+    static_friction: 1.0
+    dynamic_friction: 1.0
+    restitution: 0.0
+    friction_combine_mode: average
+    restitution_combine_mode: average
+    compliant_contact_stiffness: 0.0
+    compliant_contact_damping: 0.0
+  render:
+    enable_translucency: null
+    enable_reflections: null
+    enable_global_illumination: null
+    antialiasing_mode: null
+    enable_dlssg: null
+    enable_dl_denoiser: null
+    dlss_mode: null
+    enable_direct_lighting: null
+    samples_per_pixel: null
+    enable_shadows: null
+    enable_ambient_occlusion: null
+    dome_light_upper_lower_strategy: null
+    carb_settings: null
+    rendering_mode: null
+  create_stage_in_memory: false
+ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
+seed: 1
+decimation: 4
+scene:
+  num_envs: 1024
+  env_spacing: 0.75
+  lazy_sensor_update: true
+  replicate_physics: true
+  filter_collisions: true
+  clone_in_fabric: false
+  table: null
+  object:
+    class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
+    prim_path: /World/envs/env_.*/Object
+    spawn:
+      func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      mass_props: null
+      deformable_props: null
+      rigid_props:
+        rigid_body_enabled: null
+        kinematic_enabled: false
+        disable_gravity: false
+        linear_damping: null
+        angular_damping: null
+        max_linear_velocity: null
+        max_angular_velocity: null
+        max_depenetration_velocity: 5.0
+        max_contact_impulse: null
+        enable_gyroscopic_forces: true
+        retain_accelerations: null
+        solver_position_iteration_count: 8
+        solver_velocity_iteration_count: 0
+        sleep_threshold: 0.005
+        stabilization_threshold: 0.0025
+      collision_props: null
+      activate_contact_sensors: true
+      scale: null
+      articulation_props:
+        articulation_enabled: false
+        enabled_self_collisions: null
+        solver_position_iteration_count: null
+        solver_velocity_iteration_count: null
+        sleep_threshold: null
+        stabilization_threshold: null
+        fix_root_link: null
+      fixed_tendons_props: null
+      spatial_tendons_props: null
+      joint_drive_props: null
+      visual_material_path: material
+      visual_material: null
+      usd_path: /data/dexr_b1/cur/data/new_data_batch1/objects/marker/object.usda
+      variants: null
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+    collision_group: 0
+    debug_vis: false
+  robot:
+    class_type: isaaclab.assets.articulation.articulation:Articulation
+    prim_path: /World/envs/env_.*/Robot
+    spawn:
+      func: regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      mass_props: null
+      deformable_props: null
+      rigid_props:
+        rigid_body_enabled: null
+        kinematic_enabled: null
+        disable_gravity: true
+        linear_damping: null
+        angular_damping: null
+        max_linear_velocity: null
+        max_angular_velocity: null
+        max_depenetration_velocity: 5.0
+        max_contact_impulse: null
+        enable_gyroscopic_forces: null
+        retain_accelerations: null
+        solver_position_iteration_count: null
+        solver_velocity_iteration_count: null
+        sleep_threshold: null
+        stabilization_threshold: null
+      collision_props:
+        collision_enabled: null
+        contact_offset: 0.0015
+        rest_offset: 0.0012
+        torsional_patch_radius: null
+        min_torsional_patch_radius: null
+      activate_contact_sensors: true
+      scale: null
+      articulation_props:
+        articulation_enabled: null
+        enabled_self_collisions: true
+        solver_position_iteration_count: 32
+        solver_velocity_iteration_count: 1
+        sleep_threshold: 0.005
+        stabilization_threshold: 0.0005
+        fix_root_link: false
+      fixed_tendons_props: null
+      spatial_tendons_props: null
+      joint_drive_props: null
+      visual_material_path: material
+      visual_material: null
+      usd_path: /data/dexr_b1/cur/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd
+      variants: null
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      joint_pos:
+        r_thumb_cmc_flex: 0.0
+        r_thumb_cmc_abd: 0.0
+        r_thumb_mcp: 0.0
+        r_thumb_ip: 0.0
+        r_index_finger_mcp_flex: 0.0
+        r_index_finger_mcp_abd: 0.0
+        r_index_finger_pip: 0.0
+        r_index_finger_dip: 0.0
+        r_middle_finger_mcp_flex: 0.0
+        r_middle_finger_mcp_abd: 0.0
+        r_middle_finger_pip: 0.0
+        r_middle_finger_dip: 0.0
+        r_ring_finger_mcp_flex: 0.0
+        r_ring_finger_mcp_abd: 0.0
+        r_ring_finger_pip: 0.0
+        r_ring_finger_dip: 0.0
+        r_pinky_mcp_flex: 0.0
+        r_pinky_mcp_abd: 0.0
+        r_pinky_pip: 0.0
+        r_pinky_dip: 0.0
+      joint_vel:
+        .*: 0.0
+    collision_group: 0
+    debug_vis: false
+    articulation_root_prim_path: /r_wrist
+    soft_joint_pos_limit_factor: 1.0
+    actuators:
+      fingers:
+        class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
+        joint_names_expr:
+        - r_thumb_cmc_flex
+        - r_thumb_cmc_abd
+        - r_thumb_mcp
+        - r_thumb_ip
+        - r_index_finger_mcp_flex
+        - r_index_finger_mcp_abd
+        - r_index_finger_pip
+        - r_index_finger_dip
+        - r_middle_finger_mcp_flex
+        - r_middle_finger_mcp_abd
+        - r_middle_finger_pip
+        - r_middle_finger_dip
+        - r_ring_finger_mcp_flex
+        - r_ring_finger_mcp_abd
+        - r_ring_finger_pip
+        - r_ring_finger_dip
+        - r_pinky_mcp_flex
+        - r_pinky_mcp_abd
+        - r_pinky_pip
+        - r_pinky_dip
+        effort_limit: null
+        velocity_limit: null
+        effort_limit_sim: null
+        velocity_limit_sim: null
+        stiffness: null
+        damping: null
+        armature: null
+        friction: null
+        dynamic_friction: null
+        viscous_friction: null
+    actuator_value_resolution_debug_print: false
+  light:
+    class_type: null
+    prim_path: /World/Light
+    spawn:
+      func: isaaclab.sim.spawners.lights.lights:spawn_light
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      prim_type: DomeLight
+      color: !!python/tuple
+      - 0.75
+      - 0.75
+      - 0.75
+      enable_color_temperature: false
+      color_temperature: 6500.0
+      normalize: false
+      exposure: 0.0
+      intensity: 2000.0
+      texture_file: null
+      texture_format: automatic
+      visible_in_primary_ray: true
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    collision_group: 0
+    debug_vis: false
+  contact_forces:
+    class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
+    prim_path: /World/envs/env_.*/Robot/.*
+    update_period: 0.0
+    history_length: 3
+    debug_vis: true
+    track_pose: false
+    track_contact_points: false
+    max_contact_data_count_per_prim: 4
+    track_air_time: true
+    force_threshold: 0.5
+    filter_prim_paths_expr: []
+    visualizer_cfg:
+      prim_path: /Visuals/ContactSensor
+      markers:
+        contact:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 1.0
+            - 0.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.02
+        no_contact:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
+          visible: false
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 0.0
+            - 1.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.02
+  tf_fingertips:
+    class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
+    prim_path: /World/envs/env_.*/Robot/r_wrist
+    update_period: 0.0
+    history_length: 0
+    debug_vis: false
+    source_frame_offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    target_frames:
+    - prim_path: /World/envs/env_.*/Robot/r_thumb_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_pinky_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    visualizer_cfg:
+      prim_path: /Visuals/SiteFrameTransformer_fingertips
+      markers:
+        frame:
+          func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          deformable_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          scale: !!python/tuple
+          - 0.05
+          - 0.05
+          - 0.05
+          articulation_props: null
+          fixed_tendons_props: null
+          spatial_tendons_props: null
+          joint_drive_props: null
+          visual_material_path: material
+          visual_material: null
+          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+          variants: null
+        connecting_line:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 1.0
+            - 1.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 1.0
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.002
+          height: 1.0
+          axis: Z
+recorders:
+  dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
+  dataset_export_dir_path: /tmp/isaaclab/logs
+  dataset_filename: dataset
+  dataset_export_mode:
+    _value_: 1
+    _name_: EXPORT_ALL
+    _sort_order_: 1
+  export_in_record_pre_reset: true
+observations:
+  policy:
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    object_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos
+      params:
+        command_name: motion
+        delay_key: object_pos
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_ori:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori
+      params:
+        command_name: motion
+        delay_key: object_quat
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_joint: null
+    hand_wrist_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos
+      params:
+        command_name: motion
+        delay_key: hand_wrist_pos
+        apply_noise: true
+        relative_to_default: false
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_wrist_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d
+      params:
+        command_name: motion
+        delay_key: hand_wrist_quat
+        apply_noise: true
+        relative_to_default: false
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos
+      params:
+        command_name: motion
+        delay_key: hand_joint_pos
+        apply_noise: true
+        relative_to_default: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    actions:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    command:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_wrist_pos_and_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d
+      params:
+        action_term_name: root_pose
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos
+      params:
+        action_term_name: joint_pos
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+  critic:
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    object_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_ori:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_joint: null
+    hand_wrist_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_wrist_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    actions:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    command:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_wrist_pos_and_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d
+      params:
+        action_term_name: root_pose
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos
+      params:
+        action_term_name: joint_pos
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    fingertips_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:fingertips_pos
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    hand_joint_vel:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_vel
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    target_object_joint: null
+actions:
+  root_pose:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.actions:SE3ImpedanceActionTerm
+    asset_name: robot
+    debug_vis: false
+    clip: null
+    raw_clip: !!python/tuple
+    - -1.0
+    - 1.0
+    scale_pos: 0.03333333333333333
+    scale_rot: 0.10666666666666667
+    translation_delta_frame: world
+    rotation_delta_frame: world
+    max_target_pos_step: null
+    max_target_rot_step: null
+    kp_pos: 300.0
+    kd_pos: 30.0
+    kp_rot: 3.0
+    kd_rot: 0.3
+    base_action_source: motion_target
+    command_name: motion
+    body_name: r_wrist
+  joint_pos:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.actions:ClippedRelativeJointPositionAction
+    asset_name: robot
+    debug_vis: false
+    clip: null
+    joint_names:
+    - r_thumb_cmc_flex
+    - r_thumb_cmc_abd
+    - r_thumb_mcp
+    - r_thumb_ip
+    - r_index_finger_mcp_flex
+    - r_index_finger_mcp_abd
+    - r_index_finger_pip
+    - r_index_finger_dip
+    - r_middle_finger_mcp_flex
+    - r_middle_finger_mcp_abd
+    - r_middle_finger_pip
+    - r_middle_finger_dip
+    - r_ring_finger_mcp_flex
+    - r_ring_finger_mcp_abd
+    - r_ring_finger_pip
+    - r_ring_finger_dip
+    - r_pinky_mcp_flex
+    - r_pinky_mcp_abd
+    - r_pinky_pip
+    - r_pinky_dip
+    scale:
+      .*: 0.10666666666666667
+    offset: 0.0
+    preserve_order: true
+    use_zero_offset: true
+    raw_clip: !!python/tuple
+    - -1.0
+    - 1.0
+    base_action_source: motion_target
+    command_name: motion
+    max_target_step: null
+events:
+  object_com: null
+  object_scale: null
+  object_joint_friction: null
+  robot_physics_material:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_material
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      static_friction_range: !!python/tuple
+      - 0.7
+      - 1.3
+      dynamic_friction_range: !!python/tuple
+      - 0.7
+      - 1.3
+      restitution_range: !!python/tuple
+      - 0.0
+      - 0.0
+      num_buckets: 250
+      make_consistent: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_scale_mass:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_mass
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      mass_distribution_params: !!python/tuple
+      - 0.95
+      - 1.05
+      operation: scale
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_joint_stiffness_and_damping:
+    func: isaaclab.envs.mdp.events:randomize_actuator_gains
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      stiffness_distribution_params: !!python/tuple
+      - 0.9
+      - 1.1
+      damping_distribution_params: !!python/tuple
+      - 0.9
+      - 1.1
+      operation: scale
+      distribution: log_uniform
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  init_zero_joint_default_pos:
+    func: regrind.envs.events:init_zero_joint_default_pos
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_fingers_joint_pos_offset:
+    func: regrind.envs.events:randomize_joint_default_pos
+    params:
+      asset_cfg:
+        name: robot
+        joint_names:
+        - r_(thumb|index_finger|middle_finger|ring_finger)_.*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      pos_distribution_params: !!python/tuple
+      - -0.025
+      - 0.025
+      operation: abs
+      action_term_name: joint_pos
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_wrist_translation_joint_pos_offset: null
+  robot_wrist_rotation_joint_pos_offset: null
+  init_obs_delay_buffers:
+    func: regrind.envs.events:init_obs_delay_buffers
+    params: {}
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  table_physics_material: null
+  object_physics_material:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_material
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      static_friction_range: !!python/tuple
+      - 0.5
+      - 1.5
+      dynamic_friction_range: !!python/tuple
+      - 0.5
+      - 1.5
+      restitution_range: !!python/tuple
+      - 0.0
+      - 0.0
+      num_buckets: 250
+      make_consistent: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  object_scale_mass:
+    func: pipeline.isaac_task:bind_physics
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      randomize: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  observation_time_lag:
+    func: regrind.envs.events:randomize_observation_time_lag
+    params:
+      time_lag_ranges:
+        object_pos: !!python/tuple
+        - 0
+        - 2
+        object_quat: !!python/tuple
+        - 0
+        - 2
+        object_joint: !!python/tuple
+        - 0
+        - 2
+        hand_wrist_pos: !!python/tuple
+        - 0
+        - 2
+        hand_wrist_quat: !!python/tuple
+        - 0
+        - 2
+        hand_joint_pos: !!python/tuple
+        - 0
+        - 2
+      continuous_time_lag: true
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  curriculum_gravity: null
+  curriculum_random_push_robot:
+    func: regrind.envs.events:curriculum_random_push
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      push_velocity_stages:
+      - - 0
+        - x:
+          - -0.05
+          - 0.05
+          y:
+          - -0.05
+          - 0.05
+          z:
+          - -0.05
+          - 0.05
+          roll:
+          - -0.1
+          - 0.1
+          pitch:
+          - -0.1
+          - 0.1
+          yaw:
+          - -0.1
+          - 0.1
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 1.0
+    - 5.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+  curriculum_random_push_object:
+    func: regrind.envs.events:curriculum_random_push
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      push_velocity_stages:
+      - - 0
+        - x:
+          - -0.05
+          - 0.05
+          y:
+          - -0.05
+          - 0.05
+          z:
+          - -0.05
+          - 0.05
+          roll:
+          - -0.1
+          - 0.1
+          pitch:
+          - -0.1
+          - 0.1
+          yaw:
+          - -0.1
+          - 0.1
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 1.0
+    - 5.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+rerender_on_reset: false
+wait_for_textures: true
+xr: null
+teleop_devices:
+  devices: {}
+export_io_descriptors: false
+io_descriptors_output_dir: null
+log_dir: /data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/marker_005/fulldr/training
+is_finite_horizon: false
+episode_length_s: 12.2
+rewards:
+  object_keypoints_pos_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_keypoints_pos_error_exp
+    params:
+      command_name: motion
+      std: 0.015
+      shaping_func: exp
+    weight: 3.0
+  object_lin_vel_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_lin_vel_error_exp
+    params:
+      command_name: motion
+      std: 1.0
+      shaping_func: exp
+    weight: 1.0
+  object_ang_vel_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_ang_vel_error_exp
+    params:
+      command_name: motion
+      std: 3.14
+      shaping_func: exp
+    weight: 1.0
+  hand_wrist_pos_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_pos_error_exp
+    params:
+      command_name: motion
+      std: 0.02
+      shaping_func: exp
+    weight: 0.1
+  hand_wrist_rot_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_rot_error_exp
+    params:
+      command_name: motion
+      std: 0.2
+      shaping_func: exp
+    weight: 0.1
+  action_l2_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_l2_exp
+    params:
+      command_name: motion
+      std: 1.0
+    weight: 0.5
+  action_rate_l2_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_rate_l2_exp
+    params:
+      command_name: motion
+      std: 0.5
+    weight: 1.0
+  action_out_of_bounds_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_out_of_bounds_exp
+    params:
+      std: 1.0
+    weight: 1.0
+  early_terminated_penalty:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:is_early_terminated
+    params: {}
+    weight: -10.0
+  fingertip_object_graph_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.episode1_rewards:fingertip_object_graph_error_exp
+    params:
+      command_name: motion
+      std: 0.03
+    weight: 0.75
+  functional_terminal_pose_exp: null
+  forbidden_root_phone_contact: null
+terminations:
+  time_out:
+    func: isaaclab.envs.mdp.terminations:time_out
+    params: {}
+    time_out: true
+  demo_end_reached:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached
+    params:
+      command_name: motion
+    time_out: false
+  object_deviation:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation
+    params:
+      command_name: motion
+      threshold: 0.15
+    time_out: false
+  object_out_of_bounds:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds
+    params:
+      command_name: motion
+    time_out: false
+  hand_far_from_object:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object
+    params:
+      command_name: motion
+      threshold: 0.5
+    time_out: false
+  hit_table: null
+curriculum: {}
+commands:
+  motion:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.commands:MotionCommand
+    resampling_time_range: !!python/tuple
+    - 1000000000.0
+    - 1000000000.0
+    debug_vis: false
+    object_asset_name: object
+    robot_asset_name: robot
+    tf_asset_names:
+    - tf_fingertips
+    demo_path: /data/dexr_b1/cur/data/new_data_batch1/cases/marker_005/human.h5
+    demo_dt: 0.016666666666666666
+    retargeted_traj_path: /data/dexr_b1/cur/data/new_data_batch1/cases/marker_005/trajectory.h5
+    required_robot_root_mode: free
+    source_frame_count: null
+    consumer_window_start_inclusive: null
+    consumer_window_end_exclusive: null
+    required_frame_indexed_datasets: !!python/tuple []
+    terminal_hold_steps: 0
+    reference_steps: 366
+    augmentation_traj_dir: null
+    keypoint_paths:
+      bottom: /data/dexr_b1/cur/data/new_data_batch1/objects/marker/keypoints.npy
+    keypoint_body_prim_paths:
+      bottom: '{ENV_REGEX_NS}/Object/bottom'
+    keypoint_scale: 1.0
+    object_joint_axis: null
+    actuated_joint_names:
+    - r_thumb_cmc_flex
+    - r_thumb_cmc_abd
+    - r_thumb_mcp
+    - r_thumb_ip
+    - r_index_finger_mcp_flex
+    - r_index_finger_mcp_abd
+    - r_index_finger_pip
+    - r_index_finger_dip
+    - r_middle_finger_mcp_flex
+    - r_middle_finger_mcp_abd
+    - r_middle_finger_pip
+    - r_middle_finger_dip
+    - r_ring_finger_mcp_flex
+    - r_ring_finger_mcp_abd
+    - r_ring_finger_pip
+    - r_ring_finger_dip
+    - r_pinky_mcp_flex
+    - r_pinky_mcp_abd
+    - r_pinky_pip
+    - r_pinky_dip
+    fingertip_keypoint_indices: !!python/tuple
+    - 4
+    - 8
+    - 12
+    - 16
+    - 20
+    fingertip_frame_names: !!python/tuple
+    - r_thumb_tip
+    - r_index_finger_tip
+    - r_middle_finger_tip
+    - r_ring_finger_tip
+    - r_pinky_tip
+    enable_reset_perturbation: true
+    traj_aug_enabled: false
+    traj_aug_translation_lower_bound: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    traj_aug_translation_upper_bound: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    traj_aug_yaw_range: !!python/tuple
+    - 0.0
+    - 0.0
+    traj_aug_start: 0.0
+    traj_aug_use: 1.0
+    traj_aug_apply_to_hand: true
+    rand_wrist_pos_range: !!python/tuple
+    - -0.005
+    - 0.005
+    rand_wrist_rot_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_finger_joint_pos_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_object_pos_range: !!python/tuple
+    - -0.005
+    - 0.005
+    rand_object_rot_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_object_joint_range: !!python/tuple
+    - -0.05
+    - 0.05
+    adaptive_kernel_size: 1
+    adaptive_lambda: 0.8
+    adaptive_uniform_ratio: 0.1
+    adaptive_alpha: 0.001
+    adaptive_sampling_enabled: false
+    rsi_enabled: true
+    debug_vis_marker_scale: 0.5
+    debug_vis_keypoints: false
+    debug_vis_contact_force_arrows: false
+    contact_force_arrow_scale: 0.0005
+    contact_force_arrow_min_length: 0.008
+    contact_force_arrow_max_length: 0.12
+    object_pos_lower_bound: !!python/tuple
+    - 0.015044226410018798
+    - 0.23908823374498103
+    - 0.23790854592628805
+    object_pos_upper_bound: !!python/tuple
+    - 0.11351838070887585
+    - 0.36307926050196027
+    - 0.3551272232626216
+    shared_translation_range: !!python/tuple
+    - -0.03
+    - 0.03
+    shared_rotation_range_rad: !!python/tuple
+    - -0.2617993877991494
+    - 0.2617993877991494
+    finger_joint_perturbation_range_rad: !!python/tuple
+    - -0.025
+    - 0.025
+obs_max_lags:
+  object_pos: 2
+  object_quat: 2
+  object_joint: 2
+  hand_wrist_pos: 2
+  hand_wrist_quat: 2
+  hand_joint_pos: 2
+tf_source_prim_path: '{ENV_REGEX_NS}/Robot/r_wrist'
+tf_target_frames:
+  fingertips:
+  - prim_path: /World/envs/env_.*/Robot/r_thumb_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_pinky_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+enable_contact_sensor: true
+include_contact_forces_in_critic_obs: false

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/requirements.txt

@@ -0,0 +1,230 @@
+isaaclab==0.47.2
+isaaclab_assets==0.2.3
+isaaclab_tasks==0.11.6
+isaaclab_rl==0.4.4
+isaacsim-benchmark==5.1.0.0
+isaacsim-example==5.1.0.0
+torchvision==0.22.0
+onnx-ir==1.0.0
+pytransform3d==3.17.0
+tensordict==0.13.0
+portalocker==2.7.0
+Rtree==1.3.0
+nvidia-cusparselt-cu12==0.6.3
+isaacsim-storage==5.1.0.0
+nvidia-cuda-nvrtc-cu12==12.6.77
+wrapt==1.16.0
+osqp==0.6.7.post3
+proglog==0.1.12
+awscrt==0.23.8
+isaacsim-template==5.1.0.0
+isaacsim-extscache-kit-sdk==5.1.0.0
+tqdm==4.70.1
+packaging==23.0
+typing_extensions==4.12.2
+toml==0.10.2
+PyJWT==2.15.1
+psutil==5.9.8
+pluggy==1.6.0
+s3transfer==0.13.1
+gitdb==4.0.12
+charset-normalizer==3.3.2
+isaacsim-test==5.1.0.0
+omegaconf==2.3.1
+aiofiles==23.2.1
+uvicorn==0.29.0
+antlr4-python3-runtime==4.9.3
+gymnasium==1.2.0
+Markdown==3.11
+h5py==3.16.0
+aiohttp==3.11.11
+torchaudio==2.7.0
+certifi==2026.7.22
+filelock==3.13.1
+azure-storage-blob==12.17.0
+isaaclab_tasks==0.11.6
+httptools==0.6.1
+imageio-ffmpeg==0.6.0
+propcache==0.2.1
+yarl==1.18.3
+asteval==1.0.6
+azure-core==1.28.0
+azure-identity==1.13.0
+sympy==1.13.3
+rsl-rl-lib==3.0.1
+qpsolvers==4.13.0
+huggingface_hub==0.36.2
+GitPython==3.2.0
+Pygments==2.21.0
+protobuf==7.36.2
+nvidia-cudnn-cu12==9.5.1.17
+iniconfig==2.3.1
+isaaclab_assets==0.2.3
+loop-rate-limiters==1.2.0
+pin==2.7.0
+hydra-core==1.3.4
+nest-asyncio==1.5.6
+hpp-fcl==2.4.4
+starlette==0.45.3
+einops==0.8.2
+watchdog==4.0.0
+llvmlite==0.42.0
+nvidia-cusolver-cu12==11.7.1.2
+nvidia-nvtx-cu12==12.6.77
+nvidia-cuda-cupti-cu12==12.6.80
+fastapi==0.115.7
+eigenpy==3.5.1
+matplotlib==3.10.3
+idna-ssl==1.1.0
+sentry-sdk==2.29.1
+annotated-types==0.8.0
+isaacsim-robot-setup==5.1.0.0
+oauthlib==3.2.2
+safetensors==0.8.0
+jmespath==1.0.1
+pip==25.3
+isaacsim==5.1.0.0
+kiwisolver==1.4.4
+isaacsim-extscache-kit==5.1.0.0
+requests-oauthlib==1.3.1
+aiobotocore==2.24.0
+lxml==6.1.3
+aioitertools==0.11.0
+urllib3==2.8.0
+pycares==4.8.0
+pytest-mock==3.16.0
+torch==2.7.0
+isaacsim-cortex==5.1.0.0
+importlib_metadata==9.0.1
+tensorboard-data-server==0.7.2
+isaacsim-robot-motion==5.1.0.0
+click==8.5.0
+dex_retargeting==0.4.6
+isaacsim-core==5.1.0.0
+anytree==2.13.0
+Farama-Notifications==0.0.6
+transformers==4.56.2
+isaacsim-robot==5.1.0.0
+isaacsim-rl==5.1.0.0
+fsspec==2024.6.1
+cmeel-qhull==8.0.2.1
+cmeel-console-bridge==1.0.2.3
+hf-xet==1.7.0
+prettytable==3.3.0
+coverage==7.4.4
+multidict==6.1.0
+gunicorn==23.0.0
+Werkzeug==3.1.9
+onnx==1.18.0
+cmeel-octomap==1.10.0
+tensorboard==2.21.0
+Mosek==11.1.2
+typing-inspection==0.4.2
+isaacsim-code-editor==5.1.0.0
+nvidia-cufft-cu12==11.3.0.4
+wcwidth==0.9.2
+cycler==0.11.0
+contourpy==1.3.1
+aiohappyeyeballs==2.4.4
+numpy==1.26.0
+regex==2026.9.29
+idna==3.10
+nvidia-cufile-cu12==1.11.1.6
+PyYAML==6.0.2
+decorator==5.3.1
+cmeel-assimp==5.4.3.1
+drake==1.51.1
+aioboto3==15.1.0
+cloudpickle==3.1.2
+isaacsim-kernel==5.1.0.0
+mpmath==1.3.0
+aiosignal==1.3.2
+pin-pink==3.1.0
+smmap==5.0.3
+fonttools==4.55.3
+isaaclab==0.47.2
+numba==0.59.1
+wandb==0.28.1
+pycparser==3.11
+isaacsim-sensor==5.1.0.0
+pyperclip==1.8.0
+anyio==4.14.2
+Jinja2==3.1.6
+isaaclab_rl==0.4.4
+nvidia-nvjitlink-cu12==12.6.85
+ml_dtypes==0.5.4
+opencv-python-headless==4.11.0.86
+tokenizers==0.22.2
+pypng==0.20220715.0
+flaky==3.8.1
+cmeel-urdfdom==3.1.1.1
+imageio==2.37.0
+python-multipart==0.0.20
+pyglet==1.5.31
+cmeel-tinyxml==2.6.2.3
+websockets==12.0
+botocore==1.39.11
+cmeel==0.61.0
+setuptools==80.9.0
+triton==3.3.0
+h11==0.16.0
+orjson==3.13.0
+msal-extensions==1.0.0
+platformdirs==4.12.4
+cffi==2.1.1
+quadprog==0.1.13
+requests==2.32.3
+networkx==3.3
+isaacsim-app==5.1.0.0
+python-dotenv==1.2.4
+zipp==4.1.1
+qrcode==7.4.2
+nvidia-nccl-cu12==2.26.2
+wheel==0.45.1
+isaacsim-replicator==5.1.0.0
+pyparsing==3.0.9
+isaacsim-ros1==5.1.0.0
+hidapi==0.14.0.post2
+trimesh==4.5.1
+isaacsim-ros2==5.1.0.0
+flatdict==4.0.1
+pydantic==2.11.10
+six==1.17.0
+pydot==3.0.4
+pillow==11.3.0
+isaacsim-extscache-physics==5.1.0.0
+isaacsim-utils==5.1.0.0
+msal==1.27.0
+qdldl==0.1.7.post5
+onnxscript==0.7.1
+python-dateutil==2.9.0.post0
+nvidia-cusparse-cu12==12.5.4.2
+Pint==0.20.1
+pydantic_core==2.33.2
+cmeel-zlib==1.3.2
+cmeel-boost==1.83.0
+grpcio==1.84.0
+attrs==25.1.0
+moviepy==2.2.1
+warp-lang==1.15.0
+nlopt==2.7.1
+nvidia-cublas-cu12==12.6.4.1
+absl-py==2.5.1
+isaacsim-asset==5.1.0.0
+cryptography==44.0.0
+scipy==1.15.3
+isaacsim-gui==5.1.0.0
+nvidia-curand-cu12==10.3.7.77
+pytz==2024.1
+frozenlist==1.5.0
+opencv-python==4.11.0.86
+tornado==6.5.1
+junitparser==5.0.3
+pyvers==0.2.3
+async-timeout==5.0.1
+isodate==0.6.1
+boto3==1.39.11
+aiodns==3.1.1
+pytest==9.1.1
+MarkupSafe==2.1.3
+nvidia-cuda-runtime-cu12==12.6.77

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/resume_metadata.json

@@ -0,0 +1,11 @@
+{
+  "model_state_loaded": true,
+  "optimizer_learning_rates_after_load": [
+    1.5000000000000004e-05
+  ],
+  "optimizer_state_entry_count_after_load": 21,
+  "optimizer_state_loaded": true,
+  "resume_checkpoint_sha256": "0c444093dd629ab71a7f814872ef536bb6089cfa376a7afdf71fcb29f478462e",
+  "resume_path": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/marker_005/teacher/training/model_4999.pt",
+  "source_learning_iteration": 4999
+}

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/dependencies.json

@@ -0,0 +1,99 @@
+{
+  "status": "INCOMPLETE_FOR_EVALUATION",
+  "evaluation_ready": false,
+  "scope": "Checkpoint and configurations only; matching training inputs are not bundled",
+  "dependencies": [
+    {
+      "role": "human_h5",
+      "training_source_path": "data/new_data_batch1/cases/marker_005/human.h5",
+      "expected_sha256": "e0ad5f15733d5dd691842fd99329ad3202d6e73a9b1b5bb3404da9c2a40aee16",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "retarget_h5",
+      "training_source_path": "data/new_data_batch1/cases/marker_005/trajectory.h5",
+      "expected_sha256": "f25e1c5764fd4462f4428651e090d40ccc5a642c44ea6ffc7f8147720bef3239",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "source_bundle_manifest",
+      "training_source_path": "data/new_data_batch1/manifest.json",
+      "expected_sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "keypoints",
+      "training_source_path": "data/new_data_batch1/objects/marker/keypoints.npy",
+      "expected_sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f",
+      "availability": "EXACT_HASH_EXISTS_IN_PREVIOUS_HF_REVISION",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": [
+        {
+          "repo_id": "FlappyHimself/reorientation-artifacts",
+          "revision": "7e6bef8f22540f90732f8053ccf578a44b367725",
+          "path": "provenance/selected15-20261008-v1/assets/profiles/marker/sharpa_profile/assets/surface_surface_keypoints.npy"
+        },
+        {
+          "repo_id": "FlappyHimself/reorientation-artifacts",
+          "revision": "7e6bef8f22540f90732f8053ccf578a44b367725",
+          "path": "provenance/selected15-20261008-v1/assets/profiles/marker/surface_keypoints.npy"
+        }
+      ]
+    },
+    {
+      "role": "properties",
+      "training_source_path": "data/new_data_batch1/objects/marker/properties.json",
+      "expected_sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "urdf",
+      "training_source_path": "data/new_data_batch1/objects/marker/object.urdf",
+      "expected_sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "usd",
+      "training_source_path": "data/new_data_batch1/objects/marker/object.usda",
+      "expected_sha256": "23472b1831c9051fef037a4981c6108ef0ea626ef3c186889935486f19330dfb",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "visual",
+      "training_source_path": "data/new_data_batch1/objects/marker/visual.obj",
+      "expected_sha256": "435a710afb84d4a3121f0389f60b1424fed93958cac07ce38d1e2e1317814203",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "robot_usd",
+      "training_source_path": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+      "expected_sha256": null,
+      "availability": "SOURCE_CONTEXT_DOES_NOT_PROVIDE_SHA256",
+      "hf_matches": []
+    }
+  ],
+  "existing_stage2_comparison": {
+    "revision": "7e6bef8f22540f90732f8053ccf578a44b367725",
+    "path": "objects/marker/trajectories/marker_005/wuji2/stage2/selected15-20261008-v1/trajectory.h5",
+    "sha256": "f57e1bbe8259d38dba7a0a6b259008d329a0d1ebc65288e8b189da0ca53a4156",
+    "training_retarg_h5_sha256": "f25e1c5764fd4462f4428651e090d40ccc5a642c44ea6ffc7f8147720bef3239",
+    "same_bytes": false,
+    "may_use_as_parent_input": false
+  },
+  "robot_usd_source": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+  "note": "Historical absolute/source-relative paths in config are provenance, not portable local inputs. Resolve and hash-check every exact dependency before evaluation; do not substitute the existing same-ID Stage2 release."
+}

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/manifest.json

@@ -0,0 +1,121 @@
+{
+  "schema": "reorientation_wuji2_stage3_checkpoint_archive_v1",
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+      "path": "objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/README.md",
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+}

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/source/provenance.json

@@ -0,0 +1,32 @@
+{
+  "source": {
+    "entity": "dfnet",
+    "project": "dex-retarget",
+    "run_id": "rawbvfp3",
+    "run_name": "marker_005/fulldr/outputs/b1_grav_cur_b1c-2/marker_005/fulldr",
+    "url": "https://wandb.ai/dfnet/dex-retarget/runs/rawbvfp3",
+    "state": "finished"
+  },
+  "code_commit": "d4d481eddf00872b287e3cff4334fcd12869e71d",
+  "phase": "FullDR",
+  "completed_stage_budget_from_source": {
+    "configured_additional_updates": 5000,
+    "resumed_learning_iteration": 4999,
+    "final_checkpoint_iteration": 9998,
+    "selection": "final optimizer update; not evaluation-selected"
+  },
+  "parent_nominal_checkpoint": {
+    "source_path": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/marker_005/teacher/training/model_4999.pt",
+    "sha256": "0c444093dd629ab71a7f814872ef536bb6089cfa376a7afdf71fcb29f478462e",
+    "model_state_loaded": true,
+    "optimizer_state_loaded": true
+  },
+  "normalization": "Observation normalizer state is carried in the source checkpoint; checkpoint bytes preserved. No deserialization or simulation performed in this archive.",
+  "claims": {
+    "reward_selected": true,
+    "independent_evaluation": "NOT_PROVIDED",
+    "rollout_videos": "NOT_PROVIDED",
+    "new_evaluation_run": false,
+    "training_input_equivalence_to_existing_hf_stage2": false
+  }
+}

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/source/reward_selection.json

@@ -0,0 +1,12 @@
+{
+  "metric": "Episode_Reward/object_keypoints_pos_error_exp",
+  "operator": ">",
+  "threshold": 1.0,
+  "observed_step": 9998,
+  "observed_value": 1.0477502346038818,
+  "rule": "Final checkpoint at the exact logged step, not historical maximum or smoothed reward",
+  "run_id": "rawbvfp3",
+  "wandb_url": "https://wandb.ai/dfnet/dex-retarget/runs/rawbvfp3",
+  "read_at": 1791753857.2084894,
+  "evaluation_success_inferred": false
+}

objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/source/wandb_receipt.json

@@ -0,0 +1,13 @@
+{
+  "checkpoint": {
+    "path": "outputs/b1_grav_cur_b1c-2/marker_005/fulldr/training/model_9998.pt",
+    "sha256": "ad67ad872d895d2feb61805c433cb6f97f12f44d58a3a451a6c5f9825d9c21b6"
+  },
+  "contents": "model (including observation normalizers), optimizer, iteration and audited stage progress",
+  "mode": "online",
+  "run_id": "rawbvfp3",
+  "run_url": "https://wandb.ai/dfnet/dex-retarget/runs/rawbvfp3",
+  "schema": "dex_wandb_checkpoint_v1",
+  "selection": "final optimizer update; not evaluation-selected",
+  "wandb_file": "model_9998.pt"
+}

objects/marker/trajectories/marker_009/wuji2/stage3/index.json

@@ -0,0 +1,18 @@
+{
+  "schema": "reorientation_stage3_archive_index_v1",
+  "take": "marker_009",
+  "embodiment": "wuji2",
+  "runs": [
+    {
+      "run_id": "jdfgpdaq",
+      "manifest": {
+        "path": "objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/manifest.json",
+        "sha256": "21138e35408bfd36ed7bb5f7f73e226a1eb6a56f1c7cca5fd15c2c2ff86594b7",
+        "bytes": 5056
+      },
+      "status": "CHECKPOINT_ARCHIVED_DEPENDENCIES_INCOMPLETE",
+      "evaluation_ready": false
+    }
+  ],
+  "scope": "Additional Stage3 archives; original Stage1/Stage2 trajectory manifest remains unchanged"
+}

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/README.md

@@ -0,0 +1,22 @@
+# marker_009 / WUJI2 FullDR / jdfgpdaq
+
+**CHECKPOINT_ARCHIVED — INCOMPLETE_FOR_EVALUATION**
+
+Final model: `checkpoints/model_9998.pt`. Source [W&B run](https://wandb.ai/dfnet/dex-retarget/runs/jdfgpdaq).
+Source FullDR stage:5000 additional PPO updates, resumed iteration4999,
+final saved iteration9998. This is the final model, not a best-reward checkpoint.
+Selection: `Episode_Reward/object_keypoints_pos_error_exp` at logged step9998 = **1.00889492 > 1**.
+Reward selection is not an evaluation pass.
+
+Checkpoint SHA256: `a39670fdd5ca77e452e1fd1bf938aef2ec5d92866a7c276a5e96c74939d4bb8e`.
+The uploaded file is unchanged and includes the original serialized policy state.
+Exact source configurations, context, resume record and receipt accompany it.
+
+## Missing evaluation inputs
+
+The actual training retarget H5 has SHA256 `e800d13684d86fc812a8036e1e786fe5f143d0a2b326d12bb96dcfc7ae796593`.
+The existing same-trajectory HF Stage2 H5 has SHA256 `d7d154334a6cc715f354b7558a7d165d6f4dfb473c152e3e70a5a214b475414f`.
+**They are different artifacts. Do not silently substitute the existing Stage2.**
+See [dependencies](dependencies.json) for exact human/retarget H5, geometry,
+source bundle and robot requirements. Historical paths are source provenance only.
+This release does not include newly run evaluation,32-seed metrics or rollout videos.

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/checkpoints/model_9998.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a39670fdd5ca77e452e1fd1bf938aef2ec5d92866a7c276a5e96c74939d4bb8e
+size 20801589

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/agent.yaml

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+seed: 1
+device: cuda:0
+num_steps_per_env: 24
+max_iterations: 5000
+empirical_normalization: null
+obs_groups: {}
+clip_actions: null
+save_interval: 500
+experiment_name: wuji2_phone_capture_v2
+run_name: fulldr
+logger: wandb
+neptune_project: dex-retarget
+wandb_project: dex-retarget
+resume: true
+load_run: .*
+load_checkpoint: model_.*.pt
+class_name: OnPolicyRunner
+policy:
+  class_name: CustomActorCritic
+  init_noise_std: 0.5
+  noise_std_type: scalar
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  actor_hidden_dims:
+  - 1024
+  - 512
+  - 256
+  - 128
+  critic_hidden_dims:
+  - 1024
+  - 512
+  - 256
+  - 128
+  activation: elu
+  zero_init_actor_last_layer: true
+algorithm:
+  class_name: PPO
+  num_learning_epochs: 5
+  num_mini_batches: 4
+  learning_rate: 0.001
+  schedule: adaptive
+  gamma: 0.998
+  lam: 0.95
+  entropy_coef: 0.002
+  desired_kl: 0.01
+  max_grad_norm: 1.0
+  value_loss_coef: 1.0
+  use_clipped_value_loss: true
+  clip_param: 0.2
+  normalize_advantage_per_mini_batch: false
+  rnd_cfg: null
+  symmetry_cfg: null

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/config.json

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+    "num_mini_batches": 4,
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+        "bounce_threshold_velocity": 0.2,
+        "friction_offset_threshold": 0.01,
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+        "gpu_max_soft_body_contacts": 1048576,
+        "enable_enhanced_determinism": false,
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+        "max_position_iteration_count": 192,
+        "max_velocity_iteration_count": 1,
+        "min_position_iteration_count": 1,
+        "min_velocity_iteration_count": 0,
+        "friction_correlation_distance": 0.00625,
+        "gpu_found_lost_pairs_capacity": 2097152,
+        "solve_articulation_contact_last": false,
+        "gpu_total_aggregate_pairs_capacity": 2097152,
+        "gpu_found_lost_aggregate_pairs_capacity": 33554432
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+      "create_stage_in_memory": false,
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+      "fingertips": [
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_thumb_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_index_finger_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_middle_finger_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_ring_finger_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_pinky_tip"
+        }
+      ]
+    },
+    "is_finite_horizon": false,
+    "rerender_on_reset": false,
+    "wait_for_textures": true,
+    "tf_source_prim_path": "{ENV_REGEX_NS}/Robot/r_wrist",
+    "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow",
+    "enable_contact_sensor": true,
+    "export_io_descriptors": false,
+    "io_descriptors_output_dir": null,
+    "include_contact_forces_in_critic_obs": false
+  },
+  "log_dir": "/data/dexr_b1/rel/outputs/b1_grav_on_b1-7/marker_009/fulldr/training",
+  "policy_cfg": {
+    "activation": "elu",
+    "init_noise_std": 0.5,
+    "noise_std_type": "scalar",
+    "actor_hidden_dims": [
+      1024,
+      512,
+      256,
+      128
+    ],
+    "critic_hidden_dims": [
+      1024,
+      512,
+      256,
+      128
+    ],
+    "actor_obs_normalization": true,
+    "critic_obs_normalization": true,
+    "zero_init_actor_last_layer": true
+  },
+  "runner_cfg": {
+    "seed": 1,
+    "device": "cuda:0",
+    "logger": "wandb",
+    "policy": {
+      "activation": "elu",
+      "init_noise_std": 0.5,
+      "noise_std_type": "scalar",
+      "actor_hidden_dims": [
+        1024,
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        1024,
+        512,
+        256,
+        128
+      ],
+      "actor_obs_normalization": true,
+      "critic_obs_normalization": true,
+      "zero_init_actor_last_layer": true
+    },
+    "resume": true,
+    "load_run": ".*",
+    "run_name": "fulldr",
+    "algorithm": {
+      "lam": 0.95,
+      "gamma": 0.998,
+      "rnd_cfg": null,
+      "schedule": "adaptive",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.002,
+      "symmetry_cfg": null,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1,
+      "value_loss_coef": 1,
+      "num_mini_batches": 4,
+      "num_learning_epochs": 5,
+      "use_clipped_value_loss": true,
+      "normalize_advantage_per_mini_batch": false
+    },
+    "class_name": "OnPolicyRunner",
+    "obs_groups": {
+      "critic": [
+        "critic"
+      ],
+      "policy": [
+        "policy"
+      ]
+    },
+    "clip_actions": null,
+    "save_interval": 500,
+    "wandb_project": "dex-retarget",
+    "max_iterations": 5000,
+    "experiment_name": "wuji2_phone_capture_v2",
+    "load_checkpoint": "model_.*.pt",
+    "neptune_project": "dex-retarget",
+    "num_steps_per_env": 24,
+    "empirical_normalization": null
+  }
+}

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/context.json

@@ -0,0 +1,56 @@
+{
+  "bundle": {
+    "path": "data/new_data_batch1/manifest.json",
+    "sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd"
+  },
+  "capture_id": "marker_009",
+  "control_hz": 30.0,
+  "control_motion_steps": 333,
+  "geometry": {
+    "keypoints": {
+      "path": "data/new_data_batch1/objects/marker/keypoints.npy",
+      "sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f"
+    },
+    "properties": {
+      "path": "data/new_data_batch1/objects/marker/properties.json",
+      "sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5"
+    },
+    "urdf": {
+      "path": "data/new_data_batch1/objects/marker/object.urdf",
+      "sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf"
+    },
+    "usd": {
+      "path": "data/new_data_batch1/objects/marker/object.usda",
+      "sha256": "23472b1831c9051fef037a4981c6108ef0ea626ef3c186889935486f19330dfb"
+    },
+    "visual": {
+      "path": "data/new_data_batch1/objects/marker/visual.obj",
+      "sha256": "435a710afb84d4a3121f0389f60b1424fed93958cac07ce38d1e2e1317814203"
+    }
+  },
+  "hold_steps": 15,
+  "human": {
+    "path": "data/new_data_batch1/cases/marker_009/human.h5",
+    "sha256": "dad91062c076ab4ef78df60119e51d5a9cdb372946a58aba63d60c390876ce94"
+  },
+  "robot_usd": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+  "schema": "dex_prepared_training_context_v1",
+  "source_frames": 666,
+  "source_hz": 60.0,
+  "terminal_bootstrap_protocol": "WUJI2-TerminalBootstrap-20261008-v1",
+  "training_only": true,
+  "trajectory": {
+    "path": "data/new_data_batch1/cases/marker_009/trajectory.h5",
+    "sha256": "e800d13684d86fc812a8036e1e786fe5f143d0a2b326d12bb96dcfc7ae796593"
+  },
+  "workspace_lower_m": [
+    0.00406169333993571,
+    0.29276214415176516,
+    0.23492100417885878
+  ],
+  "workspace_upper_m": [
+    0.12309522213846205,
+    0.4169984832791166,
+    0.32663557445845737
+  ]
+}

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/env.yaml

@@ -0,0 +1,1508 @@
+viewer:
+  eye: !!python/tuple
+  - 0.45
+  - -0.45
+  - 0.32
+  lookat: !!python/tuple
+  - 0.0
+  - 0.0
+  - 0.0
+  cam_prim_path: /OmniverseKit_Persp
+  resolution: !!python/tuple
+  - 1280
+  - 720
+  origin_type: world
+  env_index: 0
+  asset_name: null
+  body_name: null
+sim:
+  physics_prim_path: /physicsScene
+  device: cuda:0
+  dt: 0.008333333333333333
+  render_interval: 4
+  gravity: !!python/tuple
+  - 0.0
+  - 0.0
+  - -9.81
+  enable_scene_query_support: false
+  use_fabric: true
+  physx:
+    solver_type: 1
+    min_position_iteration_count: 1
+    max_position_iteration_count: 192
+    min_velocity_iteration_count: 0
+    max_velocity_iteration_count: 1
+    enable_ccd: false
+    enable_stabilization: false
+    enable_enhanced_determinism: false
+    bounce_threshold_velocity: 0.2
+    friction_offset_threshold: 0.01
+    friction_correlation_distance: 0.00625
+    gpu_max_rigid_contact_count: 8388608
+    gpu_max_rigid_patch_count: 8388608
+    gpu_found_lost_pairs_capacity: 2097152
+    gpu_found_lost_aggregate_pairs_capacity: 33554432
+    gpu_total_aggregate_pairs_capacity: 2097152
+    gpu_collision_stack_size: 268435456
+    gpu_heap_capacity: 67108864
+    gpu_temp_buffer_capacity: 16777216
+    gpu_max_num_partitions: 1
+    gpu_max_soft_body_contacts: 1048576
+    gpu_max_particle_contacts: 1048576
+    solve_articulation_contact_last: false
+  physics_material:
+    func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
+    static_friction: 1.0
+    dynamic_friction: 1.0
+    restitution: 0.0
+    friction_combine_mode: average
+    restitution_combine_mode: average
+    compliant_contact_stiffness: 0.0
+    compliant_contact_damping: 0.0
+  render:
+    enable_translucency: null
+    enable_reflections: null
+    enable_global_illumination: null
+    antialiasing_mode: null
+    enable_dlssg: null
+    enable_dl_denoiser: null
+    dlss_mode: null
+    enable_direct_lighting: null
+    samples_per_pixel: null
+    enable_shadows: null
+    enable_ambient_occlusion: null
+    dome_light_upper_lower_strategy: null
+    carb_settings: null
+    rendering_mode: null
+  create_stage_in_memory: false
+ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
+seed: 1
+decimation: 4
+scene:
+  num_envs: 1024
+  env_spacing: 0.75
+  lazy_sensor_update: true
+  replicate_physics: true
+  filter_collisions: true
+  clone_in_fabric: false
+  table: null
+  object:
+    class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
+    prim_path: /World/envs/env_.*/Object
+    spawn:
+      func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      mass_props: null
+      deformable_props: null
+      rigid_props:
+        rigid_body_enabled: null
+        kinematic_enabled: false
+        disable_gravity: false
+        linear_damping: null
+        angular_damping: null
+        max_linear_velocity: null
+        max_angular_velocity: null
+        max_depenetration_velocity: 5.0
+        max_contact_impulse: null
+        enable_gyroscopic_forces: true
+        retain_accelerations: null
+        solver_position_iteration_count: 8
+        solver_velocity_iteration_count: 0
+        sleep_threshold: 0.005
+        stabilization_threshold: 0.0025
+      collision_props: null
+      activate_contact_sensors: true
+      scale: null
+      articulation_props:
+        articulation_enabled: false
+        enabled_self_collisions: null
+        solver_position_iteration_count: null
+        solver_velocity_iteration_count: null
+        sleep_threshold: null
+        stabilization_threshold: null
+        fix_root_link: null
+      fixed_tendons_props: null
+      spatial_tendons_props: null
+      joint_drive_props: null
+      visual_material_path: material
+      visual_material: null
+      usd_path: /data/dexr_b1/rel/data/new_data_batch1/objects/marker/object.usda
+      variants: null
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+    collision_group: 0
+    debug_vis: false
+  robot:
+    class_type: isaaclab.assets.articulation.articulation:Articulation
+    prim_path: /World/envs/env_.*/Robot
+    spawn:
+      func: regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      mass_props: null
+      deformable_props: null
+      rigid_props:
+        rigid_body_enabled: null
+        kinematic_enabled: null
+        disable_gravity: true
+        linear_damping: null
+        angular_damping: null
+        max_linear_velocity: null
+        max_angular_velocity: null
+        max_depenetration_velocity: 5.0
+        max_contact_impulse: null
+        enable_gyroscopic_forces: null
+        retain_accelerations: null
+        solver_position_iteration_count: null
+        solver_velocity_iteration_count: null
+        sleep_threshold: null
+        stabilization_threshold: null
+      collision_props:
+        collision_enabled: null
+        contact_offset: 0.0015
+        rest_offset: 0.0012
+        torsional_patch_radius: null
+        min_torsional_patch_radius: null
+      activate_contact_sensors: true
+      scale: null
+      articulation_props:
+        articulation_enabled: null
+        enabled_self_collisions: true
+        solver_position_iteration_count: 32
+        solver_velocity_iteration_count: 1
+        sleep_threshold: 0.005
+        stabilization_threshold: 0.0005
+        fix_root_link: false
+      fixed_tendons_props: null
+      spatial_tendons_props: null
+      joint_drive_props: null
+      visual_material_path: material
+      visual_material: null
+      usd_path: /data/dexr_b1/rel/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd
+      variants: null
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      joint_pos:
+        r_thumb_cmc_flex: 0.0
+        r_thumb_cmc_abd: 0.0
+        r_thumb_mcp: 0.0
+        r_thumb_ip: 0.0
+        r_index_finger_mcp_flex: 0.0
+        r_index_finger_mcp_abd: 0.0
+        r_index_finger_pip: 0.0
+        r_index_finger_dip: 0.0
+        r_middle_finger_mcp_flex: 0.0
+        r_middle_finger_mcp_abd: 0.0
+        r_middle_finger_pip: 0.0
+        r_middle_finger_dip: 0.0
+        r_ring_finger_mcp_flex: 0.0
+        r_ring_finger_mcp_abd: 0.0
+        r_ring_finger_pip: 0.0
+        r_ring_finger_dip: 0.0
+        r_pinky_mcp_flex: 0.0
+        r_pinky_mcp_abd: 0.0
+        r_pinky_pip: 0.0
+        r_pinky_dip: 0.0
+      joint_vel:
+        .*: 0.0
+    collision_group: 0
+    debug_vis: false
+    articulation_root_prim_path: /r_wrist
+    soft_joint_pos_limit_factor: 1.0
+    actuators:
+      fingers:
+        class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
+        joint_names_expr:
+        - r_thumb_cmc_flex
+        - r_thumb_cmc_abd
+        - r_thumb_mcp
+        - r_thumb_ip
+        - r_index_finger_mcp_flex
+        - r_index_finger_mcp_abd
+        - r_index_finger_pip
+        - r_index_finger_dip
+        - r_middle_finger_mcp_flex
+        - r_middle_finger_mcp_abd
+        - r_middle_finger_pip
+        - r_middle_finger_dip
+        - r_ring_finger_mcp_flex
+        - r_ring_finger_mcp_abd
+        - r_ring_finger_pip
+        - r_ring_finger_dip
+        - r_pinky_mcp_flex
+        - r_pinky_mcp_abd
+        - r_pinky_pip
+        - r_pinky_dip
+        effort_limit: null
+        velocity_limit: null
+        effort_limit_sim: null
+        velocity_limit_sim: null
+        stiffness: null
+        damping: null
+        armature: null
+        friction: null
+        dynamic_friction: null
+        viscous_friction: null
+    actuator_value_resolution_debug_print: false
+  light:
+    class_type: null
+    prim_path: /World/Light
+    spawn:
+      func: isaaclab.sim.spawners.lights.lights:spawn_light
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      prim_type: DomeLight
+      color: !!python/tuple
+      - 0.75
+      - 0.75
+      - 0.75
+      enable_color_temperature: false
+      color_temperature: 6500.0
+      normalize: false
+      exposure: 0.0
+      intensity: 2000.0
+      texture_file: null
+      texture_format: automatic
+      visible_in_primary_ray: true
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    collision_group: 0
+    debug_vis: false
+  contact_forces:
+    class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
+    prim_path: /World/envs/env_.*/Robot/.*
+    update_period: 0.0
+    history_length: 3
+    debug_vis: true
+    track_pose: false
+    track_contact_points: false
+    max_contact_data_count_per_prim: 4
+    track_air_time: true
+    force_threshold: 0.5
+    filter_prim_paths_expr: []
+    visualizer_cfg:
+      prim_path: /Visuals/ContactSensor
+      markers:
+        contact:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 1.0
+            - 0.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.02
+        no_contact:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
+          visible: false
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 0.0
+            - 1.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.02
+  tf_fingertips:
+    class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
+    prim_path: /World/envs/env_.*/Robot/r_wrist
+    update_period: 0.0
+    history_length: 0
+    debug_vis: false
+    source_frame_offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    target_frames:
+    - prim_path: /World/envs/env_.*/Robot/r_thumb_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_pinky_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    visualizer_cfg:
+      prim_path: /Visuals/SiteFrameTransformer_fingertips
+      markers:
+        frame:
+          func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          deformable_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          scale: !!python/tuple
+          - 0.05
+          - 0.05
+          - 0.05
+          articulation_props: null
+          fixed_tendons_props: null
+          spatial_tendons_props: null
+          joint_drive_props: null
+          visual_material_path: material
+          visual_material: null
+          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+          variants: null
+        connecting_line:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 1.0
+            - 1.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 1.0
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.002
+          height: 1.0
+          axis: Z
+recorders:
+  dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
+  dataset_export_dir_path: /tmp/isaaclab/logs
+  dataset_filename: dataset
+  dataset_export_mode:
+    _value_: 1
+    _name_: EXPORT_ALL
+    _sort_order_: 1
+  export_in_record_pre_reset: true
+observations:
+  policy:
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    object_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos
+      params:
+        command_name: motion
+        delay_key: object_pos
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_ori:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori
+      params:
+        command_name: motion
+        delay_key: object_quat
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_joint: null
+    hand_wrist_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos
+      params:
+        command_name: motion
+        delay_key: hand_wrist_pos
+        apply_noise: true
+        relative_to_default: false
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_wrist_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d
+      params:
+        command_name: motion
+        delay_key: hand_wrist_quat
+        apply_noise: true
+        relative_to_default: false
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos
+      params:
+        command_name: motion
+        delay_key: hand_joint_pos
+        apply_noise: true
+        relative_to_default: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    actions:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    command:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_wrist_pos_and_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d
+      params:
+        action_term_name: root_pose
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos
+      params:
+        action_term_name: joint_pos
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+  critic:
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    object_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_ori:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_joint: null
+    hand_wrist_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_wrist_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    actions:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    command:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_wrist_pos_and_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d
+      params:
+        action_term_name: root_pose
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos
+      params:
+        action_term_name: joint_pos
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    fingertips_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:fingertips_pos
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    hand_joint_vel:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_vel
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    target_object_joint: null
+actions:
+  root_pose:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.actions:SE3ImpedanceActionTerm
+    asset_name: robot
+    debug_vis: false
+    clip: null
+    raw_clip: !!python/tuple
+    - -1.0
+    - 1.0
+    scale_pos: 0.03333333333333333
+    scale_rot: 0.10666666666666667
+    translation_delta_frame: world
+    rotation_delta_frame: world
+    max_target_pos_step: null
+    max_target_rot_step: null
+    kp_pos: 300.0
+    kd_pos: 30.0
+    kp_rot: 3.0
+    kd_rot: 0.3
+    base_action_source: motion_target
+    command_name: motion
+    body_name: r_wrist
+  joint_pos:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.actions:ClippedRelativeJointPositionAction
+    asset_name: robot
+    debug_vis: false
+    clip: null
+    joint_names:
+    - r_thumb_cmc_flex
+    - r_thumb_cmc_abd
+    - r_thumb_mcp
+    - r_thumb_ip
+    - r_index_finger_mcp_flex
+    - r_index_finger_mcp_abd
+    - r_index_finger_pip
+    - r_index_finger_dip
+    - r_middle_finger_mcp_flex
+    - r_middle_finger_mcp_abd
+    - r_middle_finger_pip
+    - r_middle_finger_dip
+    - r_ring_finger_mcp_flex
+    - r_ring_finger_mcp_abd
+    - r_ring_finger_pip
+    - r_ring_finger_dip
+    - r_pinky_mcp_flex
+    - r_pinky_mcp_abd
+    - r_pinky_pip
+    - r_pinky_dip
+    scale:
+      .*: 0.10666666666666667
+    offset: 0.0
+    preserve_order: true
+    use_zero_offset: true
+    raw_clip: !!python/tuple
+    - -1.0
+    - 1.0
+    base_action_source: motion_target
+    command_name: motion
+    max_target_step: null
+events:
+  object_com: null
+  object_scale: null
+  object_joint_friction: null
+  robot_physics_material:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_material
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      static_friction_range: !!python/tuple
+      - 0.7
+      - 1.3
+      dynamic_friction_range: !!python/tuple
+      - 0.7
+      - 1.3
+      restitution_range: !!python/tuple
+      - 0.0
+      - 0.0
+      num_buckets: 250
+      make_consistent: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_scale_mass:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_mass
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      mass_distribution_params: !!python/tuple
+      - 0.95
+      - 1.05
+      operation: scale
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_joint_stiffness_and_damping:
+    func: isaaclab.envs.mdp.events:randomize_actuator_gains
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      stiffness_distribution_params: !!python/tuple
+      - 0.9
+      - 1.1
+      damping_distribution_params: !!python/tuple
+      - 0.9
+      - 1.1
+      operation: scale
+      distribution: log_uniform
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  init_zero_joint_default_pos:
+    func: regrind.envs.events:init_zero_joint_default_pos
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_fingers_joint_pos_offset:
+    func: regrind.envs.events:randomize_joint_default_pos
+    params:
+      asset_cfg:
+        name: robot
+        joint_names:
+        - r_(thumb|index_finger|middle_finger|ring_finger)_.*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      pos_distribution_params: !!python/tuple
+      - -0.025
+      - 0.025
+      operation: abs
+      action_term_name: joint_pos
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_wrist_translation_joint_pos_offset: null
+  robot_wrist_rotation_joint_pos_offset: null
+  init_obs_delay_buffers:
+    func: regrind.envs.events:init_obs_delay_buffers
+    params: {}
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  table_physics_material: null
+  object_physics_material:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_material
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      static_friction_range: !!python/tuple
+      - 0.5
+      - 1.5
+      dynamic_friction_range: !!python/tuple
+      - 0.5
+      - 1.5
+      restitution_range: !!python/tuple
+      - 0.0
+      - 0.0
+      num_buckets: 250
+      make_consistent: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  object_scale_mass:
+    func: pipeline.isaac_task:bind_physics
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      randomize: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  observation_time_lag:
+    func: regrind.envs.events:randomize_observation_time_lag
+    params:
+      time_lag_ranges:
+        object_pos: !!python/tuple
+        - 0
+        - 2
+        object_quat: !!python/tuple
+        - 0
+        - 2
+        object_joint: !!python/tuple
+        - 0
+        - 2
+        hand_wrist_pos: !!python/tuple
+        - 0
+        - 2
+        hand_wrist_quat: !!python/tuple
+        - 0
+        - 2
+        hand_joint_pos: !!python/tuple
+        - 0
+        - 2
+      continuous_time_lag: true
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  curriculum_gravity: null
+  curriculum_random_push_robot:
+    func: regrind.envs.events:curriculum_random_push
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      push_velocity_stages:
+      - - 0
+        - x:
+          - -0.05
+          - 0.05
+          y:
+          - -0.05
+          - 0.05
+          z:
+          - -0.05
+          - 0.05
+          roll:
+          - -0.1
+          - 0.1
+          pitch:
+          - -0.1
+          - 0.1
+          yaw:
+          - -0.1
+          - 0.1
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 1.0
+    - 5.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+  curriculum_random_push_object:
+    func: regrind.envs.events:curriculum_random_push
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      push_velocity_stages:
+      - - 0
+        - x:
+          - -0.05
+          - 0.05
+          y:
+          - -0.05
+          - 0.05
+          z:
+          - -0.05
+          - 0.05
+          roll:
+          - -0.1
+          - 0.1
+          pitch:
+          - -0.1
+          - 0.1
+          yaw:
+          - -0.1
+          - 0.1
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 1.0
+    - 5.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+rerender_on_reset: false
+wait_for_textures: true
+xr: null
+teleop_devices:
+  devices: {}
+export_io_descriptors: false
+io_descriptors_output_dir: null
+log_dir: /data/dexr_b1/rel/outputs/b1_grav_on_b1-7/marker_009/fulldr/training
+is_finite_horizon: false
+episode_length_s: 11.1
+rewards:
+  object_keypoints_pos_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_keypoints_pos_error_exp
+    params:
+      command_name: motion
+      std: 0.015
+      shaping_func: exp
+    weight: 3.0
+  object_lin_vel_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_lin_vel_error_exp
+    params:
+      command_name: motion
+      std: 1.0
+      shaping_func: exp
+    weight: 1.0
+  object_ang_vel_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_ang_vel_error_exp
+    params:
+      command_name: motion
+      std: 3.14
+      shaping_func: exp
+    weight: 1.0
+  hand_wrist_pos_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_pos_error_exp
+    params:
+      command_name: motion
+      std: 0.02
+      shaping_func: exp
+    weight: 0.1
+  hand_wrist_rot_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_rot_error_exp
+    params:
+      command_name: motion
+      std: 0.2
+      shaping_func: exp
+    weight: 0.1
+  action_l2_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_l2_exp
+    params:
+      command_name: motion
+      std: 1.0
+    weight: 0.5
+  action_rate_l2_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_rate_l2_exp
+    params:
+      command_name: motion
+      std: 0.5
+    weight: 1.0
+  action_out_of_bounds_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_out_of_bounds_exp
+    params:
+      std: 1.0
+    weight: 1.0
+  early_terminated_penalty:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:is_early_terminated
+    params: {}
+    weight: -10.0
+  fingertip_object_graph_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.episode1_rewards:fingertip_object_graph_error_exp
+    params:
+      command_name: motion
+      std: 0.03
+    weight: 0.75
+  functional_terminal_pose_exp: null
+  forbidden_root_phone_contact: null
+terminations:
+  time_out:
+    func: isaaclab.envs.mdp.terminations:time_out
+    params: {}
+    time_out: true
+  demo_end_reached:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached
+    params:
+      command_name: motion
+    time_out: false
+  object_deviation:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation
+    params:
+      command_name: motion
+      threshold: 0.15
+    time_out: false
+  object_out_of_bounds:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds
+    params:
+      command_name: motion
+    time_out: false
+  hand_far_from_object:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object
+    params:
+      command_name: motion
+      threshold: 0.5
+    time_out: false
+  hit_table: null
+curriculum: {}
+commands:
+  motion:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.commands:MotionCommand
+    resampling_time_range: !!python/tuple
+    - 1000000000.0
+    - 1000000000.0
+    debug_vis: false
+    object_asset_name: object
+    robot_asset_name: robot
+    tf_asset_names:
+    - tf_fingertips
+    demo_path: /data/dexr_b1/rel/data/new_data_batch1/cases/marker_009/human.h5
+    demo_dt: 0.016666666666666666
+    retargeted_traj_path: /data/dexr_b1/rel/data/new_data_batch1/cases/marker_009/trajectory.h5
+    required_robot_root_mode: free
+    source_frame_count: null
+    consumer_window_start_inclusive: null
+    consumer_window_end_exclusive: null
+    required_frame_indexed_datasets: !!python/tuple []
+    terminal_hold_steps: 0
+    reference_steps: 333
+    augmentation_traj_dir: null
+    keypoint_paths:
+      bottom: /data/dexr_b1/rel/data/new_data_batch1/objects/marker/keypoints.npy
+    keypoint_body_prim_paths:
+      bottom: '{ENV_REGEX_NS}/Object/bottom'
+    keypoint_scale: 1.0
+    object_joint_axis: null
+    actuated_joint_names:
+    - r_thumb_cmc_flex
+    - r_thumb_cmc_abd
+    - r_thumb_mcp
+    - r_thumb_ip
+    - r_index_finger_mcp_flex
+    - r_index_finger_mcp_abd
+    - r_index_finger_pip
+    - r_index_finger_dip
+    - r_middle_finger_mcp_flex
+    - r_middle_finger_mcp_abd
+    - r_middle_finger_pip
+    - r_middle_finger_dip
+    - r_ring_finger_mcp_flex
+    - r_ring_finger_mcp_abd
+    - r_ring_finger_pip
+    - r_ring_finger_dip
+    - r_pinky_mcp_flex
+    - r_pinky_mcp_abd
+    - r_pinky_pip
+    - r_pinky_dip
+    fingertip_keypoint_indices: !!python/tuple
+    - 4
+    - 8
+    - 12
+    - 16
+    - 20
+    fingertip_frame_names: !!python/tuple
+    - r_thumb_tip
+    - r_index_finger_tip
+    - r_middle_finger_tip
+    - r_ring_finger_tip
+    - r_pinky_tip
+    enable_reset_perturbation: true
+    traj_aug_enabled: false
+    traj_aug_translation_lower_bound: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    traj_aug_translation_upper_bound: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    traj_aug_yaw_range: !!python/tuple
+    - 0.0
+    - 0.0
+    traj_aug_start: 0.0
+    traj_aug_use: 1.0
+    traj_aug_apply_to_hand: true
+    rand_wrist_pos_range: !!python/tuple
+    - -0.005
+    - 0.005
+    rand_wrist_rot_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_finger_joint_pos_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_object_pos_range: !!python/tuple
+    - -0.005
+    - 0.005
+    rand_object_rot_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_object_joint_range: !!python/tuple
+    - -0.05
+    - 0.05
+    adaptive_kernel_size: 1
+    adaptive_lambda: 0.8
+    adaptive_uniform_ratio: 0.1
+    adaptive_alpha: 0.001
+    adaptive_sampling_enabled: false
+    rsi_enabled: true
+    debug_vis_marker_scale: 0.5
+    debug_vis_keypoints: false
+    debug_vis_contact_force_arrows: false
+    contact_force_arrow_scale: 0.0005
+    contact_force_arrow_min_length: 0.008
+    contact_force_arrow_max_length: 0.12
+    object_pos_lower_bound: !!python/tuple
+    - 0.00406169333993571
+    - 0.29276214415176516
+    - 0.23492100417885878
+    object_pos_upper_bound: !!python/tuple
+    - 0.12309522213846205
+    - 0.4169984832791166
+    - 0.32663557445845737
+    shared_translation_range: !!python/tuple
+    - -0.03
+    - 0.03
+    shared_rotation_range_rad: !!python/tuple
+    - -0.2617993877991494
+    - 0.2617993877991494
+    finger_joint_perturbation_range_rad: !!python/tuple
+    - -0.025
+    - 0.025
+obs_max_lags:
+  object_pos: 2
+  object_quat: 2
+  object_joint: 2
+  hand_wrist_pos: 2
+  hand_wrist_quat: 2
+  hand_joint_pos: 2
+tf_source_prim_path: '{ENV_REGEX_NS}/Robot/r_wrist'
+tf_target_frames:
+  fingertips:
+  - prim_path: /World/envs/env_.*/Robot/r_thumb_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_pinky_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+enable_contact_sensor: true
+include_contact_forces_in_critic_obs: false

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/requirements.txt

@@ -0,0 +1,230 @@
+isaaclab==0.47.2
+isaaclab_assets==0.2.3
+isaaclab_tasks==0.11.6
+isaaclab_rl==0.4.4
+isaacsim-benchmark==5.1.0.0
+isaacsim-example==5.1.0.0
+torchvision==0.22.0
+onnx-ir==1.0.0
+pytransform3d==3.17.0
+tensordict==0.13.0
+portalocker==2.7.0
+Rtree==1.3.0
+nvidia-cusparselt-cu12==0.6.3
+isaacsim-storage==5.1.0.0
+nvidia-cuda-nvrtc-cu12==12.6.77
+wrapt==1.16.0
+osqp==0.6.7.post3
+proglog==0.1.12
+awscrt==0.23.8
+isaacsim-template==5.1.0.0
+isaacsim-extscache-kit-sdk==5.1.0.0
+tqdm==4.70.1
+packaging==23.0
+typing_extensions==4.12.2
+toml==0.10.2
+PyJWT==2.15.1
+psutil==5.9.8
+pluggy==1.6.0
+s3transfer==0.13.1
+gitdb==4.0.12
+charset-normalizer==3.3.2
+isaacsim-test==5.1.0.0
+omegaconf==2.3.1
+aiofiles==23.2.1
+uvicorn==0.29.0
+antlr4-python3-runtime==4.9.3
+gymnasium==1.2.0
+Markdown==3.11
+h5py==3.16.0
+aiohttp==3.11.11
+torchaudio==2.7.0
+certifi==2026.7.22
+filelock==3.13.1
+azure-storage-blob==12.17.0
+isaaclab_tasks==0.11.6
+httptools==0.6.1
+imageio-ffmpeg==0.6.0
+propcache==0.2.1
+yarl==1.18.3
+asteval==1.0.6
+azure-core==1.28.0
+azure-identity==1.13.0
+sympy==1.13.3
+rsl-rl-lib==3.0.1
+qpsolvers==4.13.0
+huggingface_hub==0.36.2
+GitPython==3.2.0
+Pygments==2.21.0
+protobuf==7.36.2
+nvidia-cudnn-cu12==9.5.1.17
+iniconfig==2.3.1
+isaaclab_assets==0.2.3
+loop-rate-limiters==1.2.0
+pin==2.7.0
+hydra-core==1.3.4
+nest-asyncio==1.5.6
+hpp-fcl==2.4.4
+starlette==0.45.3
+einops==0.8.2
+watchdog==4.0.0
+llvmlite==0.42.0
+nvidia-cusolver-cu12==11.7.1.2
+nvidia-nvtx-cu12==12.6.77
+nvidia-cuda-cupti-cu12==12.6.80
+fastapi==0.115.7
+eigenpy==3.5.1
+matplotlib==3.10.3
+idna-ssl==1.1.0
+sentry-sdk==2.29.1
+annotated-types==0.8.0
+isaacsim-robot-setup==5.1.0.0
+oauthlib==3.2.2
+safetensors==0.8.0
+jmespath==1.0.1
+pip==25.3
+isaacsim==5.1.0.0
+kiwisolver==1.4.4
+isaacsim-extscache-kit==5.1.0.0
+requests-oauthlib==1.3.1
+aiobotocore==2.24.0
+lxml==6.1.3
+aioitertools==0.11.0
+urllib3==2.8.0
+pycares==4.8.0
+pytest-mock==3.16.0
+torch==2.7.0
+isaacsim-cortex==5.1.0.0
+importlib_metadata==9.0.1
+tensorboard-data-server==0.7.2
+isaacsim-robot-motion==5.1.0.0
+click==8.5.0
+dex_retargeting==0.4.6
+isaacsim-core==5.1.0.0
+anytree==2.13.0
+Farama-Notifications==0.0.6
+transformers==4.56.2
+isaacsim-robot==5.1.0.0
+isaacsim-rl==5.1.0.0
+fsspec==2024.6.1
+cmeel-qhull==8.0.2.1
+cmeel-console-bridge==1.0.2.3
+hf-xet==1.7.0
+prettytable==3.3.0
+coverage==7.4.4
+multidict==6.1.0
+gunicorn==23.0.0
+Werkzeug==3.1.9
+onnx==1.18.0
+cmeel-octomap==1.10.0
+tensorboard==2.21.0
+Mosek==11.1.2
+typing-inspection==0.4.2
+isaacsim-code-editor==5.1.0.0
+nvidia-cufft-cu12==11.3.0.4
+wcwidth==0.9.2
+cycler==0.11.0
+contourpy==1.3.1
+aiohappyeyeballs==2.4.4
+numpy==1.26.0
+regex==2026.9.29
+idna==3.10
+nvidia-cufile-cu12==1.11.1.6
+PyYAML==6.0.2
+decorator==5.3.1
+cmeel-assimp==5.4.3.1
+drake==1.51.1
+aioboto3==15.1.0
+cloudpickle==3.1.2
+isaacsim-kernel==5.1.0.0
+mpmath==1.3.0
+aiosignal==1.3.2
+pin-pink==3.1.0
+smmap==5.0.3
+fonttools==4.55.3
+isaaclab==0.47.2
+numba==0.59.1
+wandb==0.28.1
+pycparser==3.11
+isaacsim-sensor==5.1.0.0
+pyperclip==1.8.0
+anyio==4.14.2
+Jinja2==3.1.6
+isaaclab_rl==0.4.4
+nvidia-nvjitlink-cu12==12.6.85
+ml_dtypes==0.5.4
+opencv-python-headless==4.11.0.86
+tokenizers==0.22.2
+pypng==0.20220715.0
+flaky==3.8.1
+cmeel-urdfdom==3.1.1.1
+imageio==2.37.0
+python-multipart==0.0.20
+pyglet==1.5.31
+cmeel-tinyxml==2.6.2.3
+websockets==12.0
+botocore==1.39.11
+cmeel==0.61.0
+setuptools==80.9.0
+triton==3.3.0
+h11==0.16.0
+orjson==3.13.0
+msal-extensions==1.0.0
+platformdirs==4.12.4
+cffi==2.1.1
+quadprog==0.1.13
+requests==2.32.3
+networkx==3.3
+isaacsim-app==5.1.0.0
+python-dotenv==1.2.4
+zipp==4.1.1
+qrcode==7.4.2
+nvidia-nccl-cu12==2.26.2
+wheel==0.45.1
+isaacsim-replicator==5.1.0.0
+pyparsing==3.0.9
+isaacsim-ros1==5.1.0.0
+hidapi==0.14.0.post2
+trimesh==4.5.1
+isaacsim-ros2==5.1.0.0
+flatdict==4.0.1
+pydantic==2.11.10
+six==1.17.0
+pydot==3.0.4
+pillow==11.3.0
+isaacsim-extscache-physics==5.1.0.0
+isaacsim-utils==5.1.0.0
+msal==1.27.0
+qdldl==0.1.7.post5
+onnxscript==0.7.1
+python-dateutil==2.9.0.post0
+nvidia-cusparse-cu12==12.5.4.2
+Pint==0.20.1
+pydantic_core==2.33.2
+cmeel-zlib==1.3.2
+cmeel-boost==1.83.0
+grpcio==1.84.0
+attrs==25.1.0
+moviepy==2.2.1
+warp-lang==1.15.0
+nlopt==2.7.1
+nvidia-cublas-cu12==12.6.4.1
+absl-py==2.5.1
+isaacsim-asset==5.1.0.0
+cryptography==44.0.0
+scipy==1.15.3
+isaacsim-gui==5.1.0.0
+nvidia-curand-cu12==10.3.7.77
+pytz==2024.1
+frozenlist==1.5.0
+opencv-python==4.11.0.86
+tornado==6.5.1
+junitparser==5.0.3
+pyvers==0.2.3
+async-timeout==5.0.1
+isodate==0.6.1
+boto3==1.39.11
+aiodns==3.1.1
+pytest==9.1.1
+MarkupSafe==2.1.3
+nvidia-cuda-runtime-cu12==12.6.77

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/resume_metadata.json

@@ -0,0 +1,11 @@
+{
+  "model_state_loaded": true,
+  "optimizer_learning_rates_after_load": [
+    1e-05
+  ],
+  "optimizer_state_entry_count_after_load": 21,
+  "optimizer_state_loaded": true,
+  "resume_checkpoint_sha256": "dec024c9b493768a45aaa251cd0c20fa7d3cfd161135dcee724c4a6b54d13a61",
+  "resume_path": "/data/dexr_b1/rel/outputs/b1_grav_on_b1-7/marker_009/teacher/training/model_4999.pt",
+  "source_learning_iteration": 4999
+}

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/dependencies.json

@@ -0,0 +1,99 @@
+{
+  "status": "INCOMPLETE_FOR_EVALUATION",
+  "evaluation_ready": false,
+  "scope": "Checkpoint and configurations only; matching training inputs are not bundled",
+  "dependencies": [
+    {
+      "role": "human_h5",
+      "training_source_path": "data/new_data_batch1/cases/marker_009/human.h5",
+      "expected_sha256": "dad91062c076ab4ef78df60119e51d5a9cdb372946a58aba63d60c390876ce94",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "retarget_h5",
+      "training_source_path": "data/new_data_batch1/cases/marker_009/trajectory.h5",
+      "expected_sha256": "e800d13684d86fc812a8036e1e786fe5f143d0a2b326d12bb96dcfc7ae796593",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "source_bundle_manifest",
+      "training_source_path": "data/new_data_batch1/manifest.json",
+      "expected_sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "keypoints",
+      "training_source_path": "data/new_data_batch1/objects/marker/keypoints.npy",
+      "expected_sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f",
+      "availability": "EXACT_HASH_EXISTS_IN_PREVIOUS_HF_REVISION",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": [
+        {
+          "repo_id": "FlappyHimself/reorientation-artifacts",
+          "revision": "7e6bef8f22540f90732f8053ccf578a44b367725",
+          "path": "provenance/selected15-20261008-v1/assets/profiles/marker/sharpa_profile/assets/surface_surface_keypoints.npy"
+        },
+        {
+          "repo_id": "FlappyHimself/reorientation-artifacts",
+          "revision": "7e6bef8f22540f90732f8053ccf578a44b367725",
+          "path": "provenance/selected15-20261008-v1/assets/profiles/marker/surface_keypoints.npy"
+        }
+      ]
+    },
+    {
+      "role": "properties",
+      "training_source_path": "data/new_data_batch1/objects/marker/properties.json",
+      "expected_sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "urdf",
+      "training_source_path": "data/new_data_batch1/objects/marker/object.urdf",
+      "expected_sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "usd",
+      "training_source_path": "data/new_data_batch1/objects/marker/object.usda",
+      "expected_sha256": "23472b1831c9051fef037a4981c6108ef0ea626ef3c186889935486f19330dfb",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "visual",
+      "training_source_path": "data/new_data_batch1/objects/marker/visual.obj",
+      "expected_sha256": "435a710afb84d4a3121f0389f60b1424fed93958cac07ce38d1e2e1317814203",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "robot_usd",
+      "training_source_path": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+      "expected_sha256": null,
+      "availability": "SOURCE_CONTEXT_DOES_NOT_PROVIDE_SHA256",
+      "hf_matches": []
+    }
+  ],
+  "existing_stage2_comparison": {
+    "revision": "7e6bef8f22540f90732f8053ccf578a44b367725",
+    "path": "objects/marker/trajectories/marker_009/wuji2/stage2/selected15-20261008-v1/trajectory.h5",
+    "sha256": "d7d154334a6cc715f354b7558a7d165d6f4dfb473c152e3e70a5a214b475414f",
+    "training_retarg_h5_sha256": "e800d13684d86fc812a8036e1e786fe5f143d0a2b326d12bb96dcfc7ae796593",
+    "same_bytes": false,
+    "may_use_as_parent_input": false
+  },
+  "robot_usd_source": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+  "note": "Historical absolute/source-relative paths in config are provenance, not portable local inputs. Resolve and hash-check every exact dependency before evaluation; do not substitute the existing same-ID Stage2 release."
+}

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/manifest.json

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+{
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+  "archive_release": "fulldr-reward-selected4-20261011-v1",
+  "take": "marker_009",
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+      "run_name": "marker_009/fulldr/outputs/b1_grav_on_b1-7/marker_009/fulldr",
+      "url": "https://wandb.ai/dfnet/dex-retarget/runs/jdfgpdaq",
+      "state": "finished"
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+      "bytes": 1284
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+      "path": "objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/README.md",
+      "sha256": "baf6b9f30d21b915e18b1e0e31166c1d4a6dfb21e909a8be5be98a9aced847b3",
+      "bytes": 1343
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+  "source_existing_stage2_is_not_training_parent": true
+}

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/source/provenance.json

@@ -0,0 +1,32 @@
+{
+  "source": {
+    "entity": "dfnet",
+    "project": "dex-retarget",
+    "run_id": "jdfgpdaq",
+    "run_name": "marker_009/fulldr/outputs/b1_grav_on_b1-7/marker_009/fulldr",
+    "url": "https://wandb.ai/dfnet/dex-retarget/runs/jdfgpdaq",
+    "state": "finished"
+  },
+  "code_commit": "df5e7cf67f650ad77cd73927f3c0cd57a239b1af",
+  "phase": "FullDR",
+  "completed_stage_budget_from_source": {
+    "configured_additional_updates": 5000,
+    "resumed_learning_iteration": 4999,
+    "final_checkpoint_iteration": 9998,
+    "selection": "final optimizer update; not evaluation-selected"
+  },
+  "parent_nominal_checkpoint": {
+    "source_path": "/data/dexr_b1/rel/outputs/b1_grav_on_b1-7/marker_009/teacher/training/model_4999.pt",
+    "sha256": "dec024c9b493768a45aaa251cd0c20fa7d3cfd161135dcee724c4a6b54d13a61",
+    "model_state_loaded": true,
+    "optimizer_state_loaded": true
+  },
+  "normalization": "Observation normalizer state is carried in the source checkpoint; checkpoint bytes preserved. No deserialization or simulation performed in this archive.",
+  "claims": {
+    "reward_selected": true,
+    "independent_evaluation": "NOT_PROVIDED",
+    "rollout_videos": "NOT_PROVIDED",
+    "new_evaluation_run": false,
+    "training_input_equivalence_to_existing_hf_stage2": false
+  }
+}

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/source/reward_selection.json

@@ -0,0 +1,12 @@
+{
+  "metric": "Episode_Reward/object_keypoints_pos_error_exp",
+  "operator": ">",
+  "threshold": 1.0,
+  "observed_step": 9998,
+  "observed_value": 1.008894920349121,
+  "rule": "Final checkpoint at the exact logged step, not historical maximum or smoothed reward",
+  "run_id": "jdfgpdaq",
+  "wandb_url": "https://wandb.ai/dfnet/dex-retarget/runs/jdfgpdaq",
+  "read_at": 1791753858.5959227,
+  "evaluation_success_inferred": false
+}

objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/source/wandb_receipt.json

@@ -0,0 +1,13 @@
+{
+  "checkpoint": {
+    "path": "outputs/b1_grav_on_b1-7/marker_009/fulldr/training/model_9998.pt",
+    "sha256": "a39670fdd5ca77e452e1fd1bf938aef2ec5d92866a7c276a5e96c74939d4bb8e"
+  },
+  "contents": "model (including observation normalizers), optimizer, iteration and audited stage progress",
+  "mode": "online",
+  "run_id": "jdfgpdaq",
+  "run_url": "https://wandb.ai/dfnet/dex-retarget/runs/jdfgpdaq",
+  "schema": "dex_wandb_checkpoint_v1",
+  "selection": "final optimizer update; not evaluation-selected",
+  "wandb_file": "model_9998.pt"
+}

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/README.md

@@ -0,0 +1,22 @@
+# marker_011 / WUJI2 FullDR / i277x4dj
+
+**CHECKPOINT_ARCHIVED — INCOMPLETE_FOR_EVALUATION**
+
+Final model: `checkpoints/model_9998.pt`. Source [W&B run](https://wandb.ai/dfnet/dex-retarget/runs/i277x4dj).
+Source FullDR stage:5000 additional PPO updates, resumed iteration4999,
+final saved iteration9998. This is the final model, not a best-reward checkpoint.
+Selection: `Episode_Reward/object_keypoints_pos_error_exp` at logged step9998 = **1.00417387 > 1**.
+Reward selection is not an evaluation pass.
+
+Checkpoint SHA256: `27cd8d79b2458ac6a1e3cb7d7f62e9d0eeb5cbdc4fa04b9c989e3de163e8e56c`.
+The uploaded file is unchanged and includes the original serialized policy state.
+Exact source configurations, context, resume record and receipt accompany it.
+
+## Missing evaluation inputs
+
+The actual training retarget H5 has SHA256 `d7852cea04bf31865a0bf233cce643656ab869e9865f3d7d35897e1b59b8efdb`.
+The existing same-trajectory HF Stage2 H5 has SHA256 `09778a165d8eddc0be081aadb6ee6228a95edb2be426f1e6315d3791d0ce7a27`.
+**They are different artifacts. Do not silently substitute the existing Stage2.**
+See [dependencies](dependencies.json) for exact human/retarget H5, geometry,
+source bundle and robot requirements. Historical paths are source provenance only.
+This release does not include newly run evaluation,32-seed metrics or rollout videos.

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/checkpoints/model_9998.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:27cd8d79b2458ac6a1e3cb7d7f62e9d0eeb5cbdc4fa04b9c989e3de163e8e56c
+size 20801589

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/agent.yaml

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+seed: 1
+device: cuda:0
+num_steps_per_env: 24
+max_iterations: 5000
+empirical_normalization: null
+obs_groups: {}
+clip_actions: null
+save_interval: 500
+experiment_name: wuji2_phone_capture_v2
+run_name: fulldr
+logger: wandb
+neptune_project: dex-retarget
+wandb_project: dex-retarget
+resume: true
+load_run: .*
+load_checkpoint: model_.*.pt
+class_name: OnPolicyRunner
+policy:
+  class_name: CustomActorCritic
+  init_noise_std: 0.5
+  noise_std_type: scalar
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  actor_hidden_dims:
+  - 1024
+  - 512
+  - 256
+  - 128
+  critic_hidden_dims:
+  - 1024
+  - 512
+  - 256
+  - 128
+  activation: elu
+  zero_init_actor_last_layer: true
+algorithm:
+  class_name: PPO
+  num_learning_epochs: 5
+  num_mini_batches: 4
+  learning_rate: 0.001
+  schedule: adaptive
+  gamma: 0.998
+  lam: 0.95
+  entropy_coef: 0.002
+  desired_kl: 0.01
+  max_grad_norm: 1.0
+  value_loss_coef: 1.0
+  use_clipped_value_loss: true
+  clip_param: 0.2
+  normalize_advantage_per_mini_batch: false
+  rnd_cfg: null
+  symmetry_cfg: null

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/config.json

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+{
+  "alg_cfg": {
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+    "gamma": 0.998,
+    "rnd_cfg": null,
+    "schedule": "adaptive",
+    "clip_param": 0.2,
+    "desired_kl": 0.01,
+    "entropy_coef": 0.002,
+    "symmetry_cfg": null,
+    "learning_rate": 0.001,
+    "max_grad_norm": 1,
+    "value_loss_coef": 1,
+    "num_mini_batches": 4,
+    "num_learning_epochs": 5,
+    "use_clipped_value_loss": true,
+    "normalize_advantage_per_mini_batch": false
+  },
+  "env_cfg": {
+    "xr": null,
+    "sim": {
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+      "physx": {
+        "enable_ccd": false,
+        "solver_type": 1,
+        "gpu_heap_capacity": 67108864,
+        "enable_stabilization": false,
+        "gpu_max_num_partitions": 1,
+        "gpu_collision_stack_size": 268435456,
+        "gpu_temp_buffer_capacity": 16777216,
+        "bounce_threshold_velocity": 0.2,
+        "friction_offset_threshold": 0.01,
+        "gpu_max_particle_contacts": 1048576,
+        "gpu_max_rigid_patch_count": 8388608,
+        "gpu_max_soft_body_contacts": 1048576,
+        "enable_enhanced_determinism": false,
+        "gpu_max_rigid_contact_count": 8388608,
+        "max_position_iteration_count": 192,
+        "max_velocity_iteration_count": 1,
+        "min_position_iteration_count": 1,
+        "min_velocity_iteration_count": 0,
+        "friction_correlation_distance": 0.00625,
+        "gpu_found_lost_pairs_capacity": 2097152,
+        "solve_articulation_contact_last": false,
+        "gpu_total_aggregate_pairs_capacity": 2097152,
+        "gpu_found_lost_aggregate_pairs_capacity": 33554432
+      },
+      "device": "cuda:0",
+      "render": {
+        "dlss_mode": null,
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+        "rendering_mode": null,
+        "antialiasing_mode": null,
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+        "enable_dl_denoiser": null,
+        "enable_reflections": null,
+        "enable_translucency": null,
+        "enable_direct_lighting": null,
+        "enable_ambient_occlusion": null,
+        "enable_global_illumination": null,
+        "dome_light_upper_lower_strategy": null
+      },
+      "gravity": [
+        0,
+        0,
+        -9.81
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+      "use_fabric": true,
+      "render_interval": 4,
+      "physics_material": {
+        "func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material",
+        "restitution": 0,
+        "static_friction": 1,
+        "dynamic_friction": 1,
+        "friction_combine_mode": "average",
+        "restitution_combine_mode": "average",
+        "compliant_contact_damping": 0,
+        "compliant_contact_stiffness": 0
+      },
+      "physics_prim_path": "/physicsScene",
+      "create_stage_in_memory": false,
+      "enable_scene_query_support": false
+    },
+    "seed": 1,
+    "scene": {
+      "light": {
+        "spawn": {
+          "func": "isaaclab.sim.spawners.lights.lights:spawn_light",
+          "color": [
+            0.75,
+            0.75,
+            0.75
+          ],
+          "visible": true,
+          "exposure": 0,
+          "intensity": 2000,
+          "normalize": false,
+          "prim_type": "DomeLight",
+          "texture_file": null,
+          "semantic_tags": null,
+          "texture_format": "automatic",
+          "copy_from_source": true,
+          "color_temperature": 6500,
+          "visible_in_primary_ray": true,
+          "enable_color_temperature": false
+        },
+        "debug_vis": false,
+        "prim_path": "/World/Light",
+        "class_type": null,
+        "init_state": {
+          "pos": [
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+            0,
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+          ],
+          "rot": [
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+            0,
+            0,
+            0
+          ]
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+        "collision_group": 0
+      },
+      "robot": {
+        "spawn": {
+          "func": "regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating",
+          "scale": null,
+          "visible": true,
+          "usd_path": "/data/dexr_b1/cur/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+          "variants": null,
+          "mass_props": null,
+          "rigid_props": {
+            "linear_damping": null,
+            "angular_damping": null,
+            "disable_gravity": true,
+            "sleep_threshold": null,
+            "kinematic_enabled": null,
+            "rigid_body_enabled": null,
+            "max_contact_impulse": null,
+            "max_linear_velocity": null,
+            "max_angular_velocity": null,
+            "retain_accelerations": null,
+            "stabilization_threshold": null,
+            "enable_gyroscopic_forces": null,
+            "max_depenetration_velocity": 5,
+            "solver_position_iteration_count": null,
+            "solver_velocity_iteration_count": null
+          },
+          "semantic_tags": null,
+          "collision_props": {
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+            "contact_offset": 0.0015,
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+            "min_torsional_patch_radius": null
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+          "copy_from_source": true,
+          "deformable_props": null,
+          "joint_drive_props": null,
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+            "sleep_threshold": 0.005,
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+            "stabilization_threshold": 0.0005,
+            "solver_position_iteration_count": 32,
+            "solver_velocity_iteration_count": 1
+          },
+          "fixed_tendons_props": null,
+          "visual_material_path": "material",
+          "spatial_tendons_props": null,
+          "activate_contact_sensors": true
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+            "class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator",
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+            "joint_names_expr": [
+              "r_thumb_cmc_flex",
+              "r_thumb_cmc_abd",
+              "r_thumb_mcp",
+              "r_thumb_ip",
+              "r_index_finger_mcp_flex",
+              "r_index_finger_mcp_abd",
+              "r_index_finger_pip",
+              "r_index_finger_dip",
+              "r_middle_finger_mcp_flex",
+              "r_middle_finger_mcp_abd",
+              "r_middle_finger_pip",
+              "r_middle_finger_dip",
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+          "params": {
+            "action_term_name": "root_pose"
+          },
+          "modifiers": null,
+          "history_length": 0,
+          "flatten_history_dim": true
+        }
+      }
+    },
+    "terminations": {
+      "time_out": {
+        "func": "isaaclab.envs.mdp.terminations:time_out",
+        "time_out": true
+      },
+      "hit_table": null,
+      "demo_end_reached": {
+        "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached",
+        "params": {
+          "command_name": "motion"
+        },
+        "time_out": false
+      },
+      "object_deviation": {
+        "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation",
+        "params": {
+          "threshold": 0.15,
+          "command_name": "motion"
+        },
+        "time_out": false
+      },
+      "hand_far_from_object": {
+        "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object",
+        "params": {
+          "threshold": 0.5,
+          "command_name": "motion"
+        },
+        "time_out": false
+      },
+      "object_out_of_bounds": {
+        "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds",
+        "params": {
+          "command_name": "motion"
+        },
+        "time_out": false
+      }
+    },
+    "episode_length_s": 7.2,
+    "tf_target_frames": {
+      "fingertips": [
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_thumb_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_index_finger_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_middle_finger_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_ring_finger_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_pinky_tip"
+        }
+      ]
+    },
+    "is_finite_horizon": false,
+    "rerender_on_reset": false,
+    "wait_for_textures": true,
+    "tf_source_prim_path": "{ENV_REGEX_NS}/Robot/r_wrist",
+    "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow",
+    "enable_contact_sensor": true,
+    "export_io_descriptors": false,
+    "io_descriptors_output_dir": null,
+    "include_contact_forces_in_critic_obs": false
+  },
+  "log_dir": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-4/marker_011/fulldr/training",
+  "policy_cfg": {
+    "activation": "elu",
+    "init_noise_std": 0.5,
+    "noise_std_type": "scalar",
+    "actor_hidden_dims": [
+      1024,
+      512,
+      256,
+      128
+    ],
+    "critic_hidden_dims": [
+      1024,
+      512,
+      256,
+      128
+    ],
+    "actor_obs_normalization": true,
+    "critic_obs_normalization": true,
+    "zero_init_actor_last_layer": true
+  },
+  "runner_cfg": {
+    "seed": 1,
+    "device": "cuda:0",
+    "logger": "wandb",
+    "policy": {
+      "activation": "elu",
+      "init_noise_std": 0.5,
+      "noise_std_type": "scalar",
+      "actor_hidden_dims": [
+        1024,
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        1024,
+        512,
+        256,
+        128
+      ],
+      "actor_obs_normalization": true,
+      "critic_obs_normalization": true,
+      "zero_init_actor_last_layer": true
+    },
+    "resume": true,
+    "load_run": ".*",
+    "run_name": "fulldr",
+    "algorithm": {
+      "lam": 0.95,
+      "gamma": 0.998,
+      "rnd_cfg": null,
+      "schedule": "adaptive",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.002,
+      "symmetry_cfg": null,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1,
+      "value_loss_coef": 1,
+      "num_mini_batches": 4,
+      "num_learning_epochs": 5,
+      "use_clipped_value_loss": true,
+      "normalize_advantage_per_mini_batch": false
+    },
+    "class_name": "OnPolicyRunner",
+    "obs_groups": {
+      "critic": [
+        "critic"
+      ],
+      "policy": [
+        "policy"
+      ]
+    },
+    "clip_actions": null,
+    "save_interval": 500,
+    "wandb_project": "dex-retarget",
+    "max_iterations": 5000,
+    "experiment_name": "wuji2_phone_capture_v2",
+    "load_checkpoint": "model_.*.pt",
+    "neptune_project": "dex-retarget",
+    "num_steps_per_env": 24,
+    "empirical_normalization": null
+  }
+}

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/context.json

@@ -0,0 +1,56 @@
+{
+  "bundle": {
+    "path": "data/new_data_batch1/manifest.json",
+    "sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd"
+  },
+  "capture_id": "marker_011",
+  "control_hz": 30.0,
+  "control_motion_steps": 216,
+  "geometry": {
+    "keypoints": {
+      "path": "data/new_data_batch1/objects/marker/keypoints.npy",
+      "sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f"
+    },
+    "properties": {
+      "path": "data/new_data_batch1/objects/marker/properties.json",
+      "sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5"
+    },
+    "urdf": {
+      "path": "data/new_data_batch1/objects/marker/object.urdf",
+      "sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf"
+    },
+    "usd": {
+      "path": "data/new_data_batch1/objects/marker/object.usda",
+      "sha256": "23472b1831c9051fef037a4981c6108ef0ea626ef3c186889935486f19330dfb"
+    },
+    "visual": {
+      "path": "data/new_data_batch1/objects/marker/visual.obj",
+      "sha256": "435a710afb84d4a3121f0389f60b1424fed93958cac07ce38d1e2e1317814203"
+    }
+  },
+  "hold_steps": 15,
+  "human": {
+    "path": "data/new_data_batch1/cases/marker_011/human.h5",
+    "sha256": "ea496f9e9805c51cf640691c079250f33e8cb6a8ab233a8b6a8a23f8be67641d"
+  },
+  "robot_usd": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+  "schema": "dex_prepared_training_context_v1",
+  "source_frames": 432,
+  "source_hz": 60.0,
+  "terminal_bootstrap_protocol": "WUJI2-TerminalBootstrap-20261008-v1",
+  "training_only": true,
+  "trajectory": {
+    "path": "data/new_data_batch1/cases/marker_011/trajectory.h5",
+    "sha256": "d7852cea04bf31865a0bf233cce643656ab869e9865f3d7d35897e1b59b8efdb"
+  },
+  "workspace_lower_m": [
+    0.045902509307201925,
+    0.1990767601279049,
+    0.22675348552858263
+  ],
+  "workspace_upper_m": [
+    0.15030901492990373,
+    0.3030541084096986,
+    0.3603803370630856
+  ]
+}

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/env.yaml

@@ -0,0 +1,1508 @@
+viewer:
+  eye: !!python/tuple
+  - 0.45
+  - -0.45
+  - 0.32
+  lookat: !!python/tuple
+  - 0.0
+  - 0.0
+  - 0.0
+  cam_prim_path: /OmniverseKit_Persp
+  resolution: !!python/tuple
+  - 1280
+  - 720
+  origin_type: world
+  env_index: 0
+  asset_name: null
+  body_name: null
+sim:
+  physics_prim_path: /physicsScene
+  device: cuda:0
+  dt: 0.008333333333333333
+  render_interval: 4
+  gravity: !!python/tuple
+  - 0.0
+  - 0.0
+  - -9.81
+  enable_scene_query_support: false
+  use_fabric: true
+  physx:
+    solver_type: 1
+    min_position_iteration_count: 1
+    max_position_iteration_count: 192
+    min_velocity_iteration_count: 0
+    max_velocity_iteration_count: 1
+    enable_ccd: false
+    enable_stabilization: false
+    enable_enhanced_determinism: false
+    bounce_threshold_velocity: 0.2
+    friction_offset_threshold: 0.01
+    friction_correlation_distance: 0.00625
+    gpu_max_rigid_contact_count: 8388608
+    gpu_max_rigid_patch_count: 8388608
+    gpu_found_lost_pairs_capacity: 2097152
+    gpu_found_lost_aggregate_pairs_capacity: 33554432
+    gpu_total_aggregate_pairs_capacity: 2097152
+    gpu_collision_stack_size: 268435456
+    gpu_heap_capacity: 67108864
+    gpu_temp_buffer_capacity: 16777216
+    gpu_max_num_partitions: 1
+    gpu_max_soft_body_contacts: 1048576
+    gpu_max_particle_contacts: 1048576
+    solve_articulation_contact_last: false
+  physics_material:
+    func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
+    static_friction: 1.0
+    dynamic_friction: 1.0
+    restitution: 0.0
+    friction_combine_mode: average
+    restitution_combine_mode: average
+    compliant_contact_stiffness: 0.0
+    compliant_contact_damping: 0.0
+  render:
+    enable_translucency: null
+    enable_reflections: null
+    enable_global_illumination: null
+    antialiasing_mode: null
+    enable_dlssg: null
+    enable_dl_denoiser: null
+    dlss_mode: null
+    enable_direct_lighting: null
+    samples_per_pixel: null
+    enable_shadows: null
+    enable_ambient_occlusion: null
+    dome_light_upper_lower_strategy: null
+    carb_settings: null
+    rendering_mode: null
+  create_stage_in_memory: false
+ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
+seed: 1
+decimation: 4
+scene:
+  num_envs: 1024
+  env_spacing: 0.75
+  lazy_sensor_update: true
+  replicate_physics: true
+  filter_collisions: true
+  clone_in_fabric: false
+  table: null
+  object:
+    class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
+    prim_path: /World/envs/env_.*/Object
+    spawn:
+      func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      mass_props: null
+      deformable_props: null
+      rigid_props:
+        rigid_body_enabled: null
+        kinematic_enabled: false
+        disable_gravity: false
+        linear_damping: null
+        angular_damping: null
+        max_linear_velocity: null
+        max_angular_velocity: null
+        max_depenetration_velocity: 5.0
+        max_contact_impulse: null
+        enable_gyroscopic_forces: true
+        retain_accelerations: null
+        solver_position_iteration_count: 8
+        solver_velocity_iteration_count: 0
+        sleep_threshold: 0.005
+        stabilization_threshold: 0.0025
+      collision_props: null
+      activate_contact_sensors: true
+      scale: null
+      articulation_props:
+        articulation_enabled: false
+        enabled_self_collisions: null
+        solver_position_iteration_count: null
+        solver_velocity_iteration_count: null
+        sleep_threshold: null
+        stabilization_threshold: null
+        fix_root_link: null
+      fixed_tendons_props: null
+      spatial_tendons_props: null
+      joint_drive_props: null
+      visual_material_path: material
+      visual_material: null
+      usd_path: /data/dexr_b1/cur/data/new_data_batch1/objects/marker/object.usda
+      variants: null
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+    collision_group: 0
+    debug_vis: false
+  robot:
+    class_type: isaaclab.assets.articulation.articulation:Articulation
+    prim_path: /World/envs/env_.*/Robot
+    spawn:
+      func: regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      mass_props: null
+      deformable_props: null
+      rigid_props:
+        rigid_body_enabled: null
+        kinematic_enabled: null
+        disable_gravity: true
+        linear_damping: null
+        angular_damping: null
+        max_linear_velocity: null
+        max_angular_velocity: null
+        max_depenetration_velocity: 5.0
+        max_contact_impulse: null
+        enable_gyroscopic_forces: null
+        retain_accelerations: null
+        solver_position_iteration_count: null
+        solver_velocity_iteration_count: null
+        sleep_threshold: null
+        stabilization_threshold: null
+      collision_props:
+        collision_enabled: null
+        contact_offset: 0.0015
+        rest_offset: 0.0012
+        torsional_patch_radius: null
+        min_torsional_patch_radius: null
+      activate_contact_sensors: true
+      scale: null
+      articulation_props:
+        articulation_enabled: null
+        enabled_self_collisions: true
+        solver_position_iteration_count: 32
+        solver_velocity_iteration_count: 1
+        sleep_threshold: 0.005
+        stabilization_threshold: 0.0005
+        fix_root_link: false
+      fixed_tendons_props: null
+      spatial_tendons_props: null
+      joint_drive_props: null
+      visual_material_path: material
+      visual_material: null
+      usd_path: /data/dexr_b1/cur/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd
+      variants: null
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      joint_pos:
+        r_thumb_cmc_flex: 0.0
+        r_thumb_cmc_abd: 0.0
+        r_thumb_mcp: 0.0
+        r_thumb_ip: 0.0
+        r_index_finger_mcp_flex: 0.0
+        r_index_finger_mcp_abd: 0.0
+        r_index_finger_pip: 0.0
+        r_index_finger_dip: 0.0
+        r_middle_finger_mcp_flex: 0.0
+        r_middle_finger_mcp_abd: 0.0
+        r_middle_finger_pip: 0.0
+        r_middle_finger_dip: 0.0
+        r_ring_finger_mcp_flex: 0.0
+        r_ring_finger_mcp_abd: 0.0
+        r_ring_finger_pip: 0.0
+        r_ring_finger_dip: 0.0
+        r_pinky_mcp_flex: 0.0
+        r_pinky_mcp_abd: 0.0
+        r_pinky_pip: 0.0
+        r_pinky_dip: 0.0
+      joint_vel:
+        .*: 0.0
+    collision_group: 0
+    debug_vis: false
+    articulation_root_prim_path: /r_wrist
+    soft_joint_pos_limit_factor: 1.0
+    actuators:
+      fingers:
+        class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
+        joint_names_expr:
+        - r_thumb_cmc_flex
+        - r_thumb_cmc_abd
+        - r_thumb_mcp
+        - r_thumb_ip
+        - r_index_finger_mcp_flex
+        - r_index_finger_mcp_abd
+        - r_index_finger_pip
+        - r_index_finger_dip
+        - r_middle_finger_mcp_flex
+        - r_middle_finger_mcp_abd
+        - r_middle_finger_pip
+        - r_middle_finger_dip
+        - r_ring_finger_mcp_flex
+        - r_ring_finger_mcp_abd
+        - r_ring_finger_pip
+        - r_ring_finger_dip
+        - r_pinky_mcp_flex
+        - r_pinky_mcp_abd
+        - r_pinky_pip
+        - r_pinky_dip
+        effort_limit: null
+        velocity_limit: null
+        effort_limit_sim: null
+        velocity_limit_sim: null
+        stiffness: null
+        damping: null
+        armature: null
+        friction: null
+        dynamic_friction: null
+        viscous_friction: null
+    actuator_value_resolution_debug_print: false
+  light:
+    class_type: null
+    prim_path: /World/Light
+    spawn:
+      func: isaaclab.sim.spawners.lights.lights:spawn_light
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      prim_type: DomeLight
+      color: !!python/tuple
+      - 0.75
+      - 0.75
+      - 0.75
+      enable_color_temperature: false
+      color_temperature: 6500.0
+      normalize: false
+      exposure: 0.0
+      intensity: 2000.0
+      texture_file: null
+      texture_format: automatic
+      visible_in_primary_ray: true
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    collision_group: 0
+    debug_vis: false
+  contact_forces:
+    class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
+    prim_path: /World/envs/env_.*/Robot/.*
+    update_period: 0.0
+    history_length: 3
+    debug_vis: true
+    track_pose: false
+    track_contact_points: false
+    max_contact_data_count_per_prim: 4
+    track_air_time: true
+    force_threshold: 0.5
+    filter_prim_paths_expr: []
+    visualizer_cfg:
+      prim_path: /Visuals/ContactSensor
+      markers:
+        contact:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 1.0
+            - 0.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.02
+        no_contact:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
+          visible: false
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 0.0
+            - 1.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.02
+  tf_fingertips:
+    class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
+    prim_path: /World/envs/env_.*/Robot/r_wrist
+    update_period: 0.0
+    history_length: 0
+    debug_vis: false
+    source_frame_offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    target_frames:
+    - prim_path: /World/envs/env_.*/Robot/r_thumb_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_pinky_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    visualizer_cfg:
+      prim_path: /Visuals/SiteFrameTransformer_fingertips
+      markers:
+        frame:
+          func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          deformable_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          scale: !!python/tuple
+          - 0.05
+          - 0.05
+          - 0.05
+          articulation_props: null
+          fixed_tendons_props: null
+          spatial_tendons_props: null
+          joint_drive_props: null
+          visual_material_path: material
+          visual_material: null
+          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+          variants: null
+        connecting_line:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 1.0
+            - 1.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 1.0
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.002
+          height: 1.0
+          axis: Z
+recorders:
+  dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
+  dataset_export_dir_path: /tmp/isaaclab/logs
+  dataset_filename: dataset
+  dataset_export_mode:
+    _value_: 1
+    _name_: EXPORT_ALL
+    _sort_order_: 1
+  export_in_record_pre_reset: true
+observations:
+  policy:
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    object_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos
+      params:
+        command_name: motion
+        delay_key: object_pos
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_ori:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori
+      params:
+        command_name: motion
+        delay_key: object_quat
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_joint: null
+    hand_wrist_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos
+      params:
+        command_name: motion
+        delay_key: hand_wrist_pos
+        apply_noise: true
+        relative_to_default: false
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_wrist_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d
+      params:
+        command_name: motion
+        delay_key: hand_wrist_quat
+        apply_noise: true
+        relative_to_default: false
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos
+      params:
+        command_name: motion
+        delay_key: hand_joint_pos
+        apply_noise: true
+        relative_to_default: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    actions:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    command:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_wrist_pos_and_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d
+      params:
+        action_term_name: root_pose
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos
+      params:
+        action_term_name: joint_pos
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+  critic:
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    object_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_ori:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_joint: null
+    hand_wrist_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_wrist_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    actions:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    command:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_wrist_pos_and_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d
+      params:
+        action_term_name: root_pose
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos
+      params:
+        action_term_name: joint_pos
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    fingertips_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:fingertips_pos
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    hand_joint_vel:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_vel
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    target_object_joint: null
+actions:
+  root_pose:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.actions:SE3ImpedanceActionTerm
+    asset_name: robot
+    debug_vis: false
+    clip: null
+    raw_clip: !!python/tuple
+    - -1.0
+    - 1.0
+    scale_pos: 0.03333333333333333
+    scale_rot: 0.10666666666666667
+    translation_delta_frame: world
+    rotation_delta_frame: world
+    max_target_pos_step: null
+    max_target_rot_step: null
+    kp_pos: 300.0
+    kd_pos: 30.0
+    kp_rot: 3.0
+    kd_rot: 0.3
+    base_action_source: motion_target
+    command_name: motion
+    body_name: r_wrist
+  joint_pos:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.actions:ClippedRelativeJointPositionAction
+    asset_name: robot
+    debug_vis: false
+    clip: null
+    joint_names:
+    - r_thumb_cmc_flex
+    - r_thumb_cmc_abd
+    - r_thumb_mcp
+    - r_thumb_ip
+    - r_index_finger_mcp_flex
+    - r_index_finger_mcp_abd
+    - r_index_finger_pip
+    - r_index_finger_dip
+    - r_middle_finger_mcp_flex
+    - r_middle_finger_mcp_abd
+    - r_middle_finger_pip
+    - r_middle_finger_dip
+    - r_ring_finger_mcp_flex
+    - r_ring_finger_mcp_abd
+    - r_ring_finger_pip
+    - r_ring_finger_dip
+    - r_pinky_mcp_flex
+    - r_pinky_mcp_abd
+    - r_pinky_pip
+    - r_pinky_dip
+    scale:
+      .*: 0.10666666666666667
+    offset: 0.0
+    preserve_order: true
+    use_zero_offset: true
+    raw_clip: !!python/tuple
+    - -1.0
+    - 1.0
+    base_action_source: motion_target
+    command_name: motion
+    max_target_step: null
+events:
+  object_com: null
+  object_scale: null
+  object_joint_friction: null
+  robot_physics_material:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_material
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      static_friction_range: !!python/tuple
+      - 0.7
+      - 1.3
+      dynamic_friction_range: !!python/tuple
+      - 0.7
+      - 1.3
+      restitution_range: !!python/tuple
+      - 0.0
+      - 0.0
+      num_buckets: 250
+      make_consistent: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_scale_mass:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_mass
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      mass_distribution_params: !!python/tuple
+      - 0.95
+      - 1.05
+      operation: scale
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_joint_stiffness_and_damping:
+    func: isaaclab.envs.mdp.events:randomize_actuator_gains
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      stiffness_distribution_params: !!python/tuple
+      - 0.9
+      - 1.1
+      damping_distribution_params: !!python/tuple
+      - 0.9
+      - 1.1
+      operation: scale
+      distribution: log_uniform
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  init_zero_joint_default_pos:
+    func: regrind.envs.events:init_zero_joint_default_pos
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_fingers_joint_pos_offset:
+    func: regrind.envs.events:randomize_joint_default_pos
+    params:
+      asset_cfg:
+        name: robot
+        joint_names:
+        - r_(thumb|index_finger|middle_finger|ring_finger)_.*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      pos_distribution_params: !!python/tuple
+      - -0.025
+      - 0.025
+      operation: abs
+      action_term_name: joint_pos
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_wrist_translation_joint_pos_offset: null
+  robot_wrist_rotation_joint_pos_offset: null
+  init_obs_delay_buffers:
+    func: regrind.envs.events:init_obs_delay_buffers
+    params: {}
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  table_physics_material: null
+  object_physics_material:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_material
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      static_friction_range: !!python/tuple
+      - 0.5
+      - 1.5
+      dynamic_friction_range: !!python/tuple
+      - 0.5
+      - 1.5
+      restitution_range: !!python/tuple
+      - 0.0
+      - 0.0
+      num_buckets: 250
+      make_consistent: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  object_scale_mass:
+    func: pipeline.isaac_task:bind_physics
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      randomize: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  observation_time_lag:
+    func: regrind.envs.events:randomize_observation_time_lag
+    params:
+      time_lag_ranges:
+        object_pos: !!python/tuple
+        - 0
+        - 2
+        object_quat: !!python/tuple
+        - 0
+        - 2
+        object_joint: !!python/tuple
+        - 0
+        - 2
+        hand_wrist_pos: !!python/tuple
+        - 0
+        - 2
+        hand_wrist_quat: !!python/tuple
+        - 0
+        - 2
+        hand_joint_pos: !!python/tuple
+        - 0
+        - 2
+      continuous_time_lag: true
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  curriculum_gravity: null
+  curriculum_random_push_robot:
+    func: regrind.envs.events:curriculum_random_push
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      push_velocity_stages:
+      - - 0
+        - x:
+          - -0.05
+          - 0.05
+          y:
+          - -0.05
+          - 0.05
+          z:
+          - -0.05
+          - 0.05
+          roll:
+          - -0.1
+          - 0.1
+          pitch:
+          - -0.1
+          - 0.1
+          yaw:
+          - -0.1
+          - 0.1
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 1.0
+    - 5.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+  curriculum_random_push_object:
+    func: regrind.envs.events:curriculum_random_push
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      push_velocity_stages:
+      - - 0
+        - x:
+          - -0.05
+          - 0.05
+          y:
+          - -0.05
+          - 0.05
+          z:
+          - -0.05
+          - 0.05
+          roll:
+          - -0.1
+          - 0.1
+          pitch:
+          - -0.1
+          - 0.1
+          yaw:
+          - -0.1
+          - 0.1
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 1.0
+    - 5.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+rerender_on_reset: false
+wait_for_textures: true
+xr: null
+teleop_devices:
+  devices: {}
+export_io_descriptors: false
+io_descriptors_output_dir: null
+log_dir: /data/dexr_b1/cur/outputs/b1_grav_cur_b1c-4/marker_011/fulldr/training
+is_finite_horizon: false
+episode_length_s: 7.2
+rewards:
+  object_keypoints_pos_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_keypoints_pos_error_exp
+    params:
+      command_name: motion
+      std: 0.015
+      shaping_func: exp
+    weight: 3.0
+  object_lin_vel_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_lin_vel_error_exp
+    params:
+      command_name: motion
+      std: 1.0
+      shaping_func: exp
+    weight: 1.0
+  object_ang_vel_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_ang_vel_error_exp
+    params:
+      command_name: motion
+      std: 3.14
+      shaping_func: exp
+    weight: 1.0
+  hand_wrist_pos_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_pos_error_exp
+    params:
+      command_name: motion
+      std: 0.02
+      shaping_func: exp
+    weight: 0.1
+  hand_wrist_rot_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_rot_error_exp
+    params:
+      command_name: motion
+      std: 0.2
+      shaping_func: exp
+    weight: 0.1
+  action_l2_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_l2_exp
+    params:
+      command_name: motion
+      std: 1.0
+    weight: 0.5
+  action_rate_l2_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_rate_l2_exp
+    params:
+      command_name: motion
+      std: 0.5
+    weight: 1.0
+  action_out_of_bounds_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_out_of_bounds_exp
+    params:
+      std: 1.0
+    weight: 1.0
+  early_terminated_penalty:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:is_early_terminated
+    params: {}
+    weight: -10.0
+  fingertip_object_graph_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.episode1_rewards:fingertip_object_graph_error_exp
+    params:
+      command_name: motion
+      std: 0.03
+    weight: 0.75
+  functional_terminal_pose_exp: null
+  forbidden_root_phone_contact: null
+terminations:
+  time_out:
+    func: isaaclab.envs.mdp.terminations:time_out
+    params: {}
+    time_out: true
+  demo_end_reached:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached
+    params:
+      command_name: motion
+    time_out: false
+  object_deviation:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation
+    params:
+      command_name: motion
+      threshold: 0.15
+    time_out: false
+  object_out_of_bounds:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds
+    params:
+      command_name: motion
+    time_out: false
+  hand_far_from_object:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object
+    params:
+      command_name: motion
+      threshold: 0.5
+    time_out: false
+  hit_table: null
+curriculum: {}
+commands:
+  motion:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.commands:MotionCommand
+    resampling_time_range: !!python/tuple
+    - 1000000000.0
+    - 1000000000.0
+    debug_vis: false
+    object_asset_name: object
+    robot_asset_name: robot
+    tf_asset_names:
+    - tf_fingertips
+    demo_path: /data/dexr_b1/cur/data/new_data_batch1/cases/marker_011/human.h5
+    demo_dt: 0.016666666666666666
+    retargeted_traj_path: /data/dexr_b1/cur/data/new_data_batch1/cases/marker_011/trajectory.h5
+    required_robot_root_mode: free
+    source_frame_count: null
+    consumer_window_start_inclusive: null
+    consumer_window_end_exclusive: null
+    required_frame_indexed_datasets: !!python/tuple []
+    terminal_hold_steps: 0
+    reference_steps: 216
+    augmentation_traj_dir: null
+    keypoint_paths:
+      bottom: /data/dexr_b1/cur/data/new_data_batch1/objects/marker/keypoints.npy
+    keypoint_body_prim_paths:
+      bottom: '{ENV_REGEX_NS}/Object/bottom'
+    keypoint_scale: 1.0
+    object_joint_axis: null
+    actuated_joint_names:
+    - r_thumb_cmc_flex
+    - r_thumb_cmc_abd
+    - r_thumb_mcp
+    - r_thumb_ip
+    - r_index_finger_mcp_flex
+    - r_index_finger_mcp_abd
+    - r_index_finger_pip
+    - r_index_finger_dip
+    - r_middle_finger_mcp_flex
+    - r_middle_finger_mcp_abd
+    - r_middle_finger_pip
+    - r_middle_finger_dip
+    - r_ring_finger_mcp_flex
+    - r_ring_finger_mcp_abd
+    - r_ring_finger_pip
+    - r_ring_finger_dip
+    - r_pinky_mcp_flex
+    - r_pinky_mcp_abd
+    - r_pinky_pip
+    - r_pinky_dip
+    fingertip_keypoint_indices: !!python/tuple
+    - 4
+    - 8
+    - 12
+    - 16
+    - 20
+    fingertip_frame_names: !!python/tuple
+    - r_thumb_tip
+    - r_index_finger_tip
+    - r_middle_finger_tip
+    - r_ring_finger_tip
+    - r_pinky_tip
+    enable_reset_perturbation: true
+    traj_aug_enabled: false
+    traj_aug_translation_lower_bound: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    traj_aug_translation_upper_bound: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    traj_aug_yaw_range: !!python/tuple
+    - 0.0
+    - 0.0
+    traj_aug_start: 0.0
+    traj_aug_use: 1.0
+    traj_aug_apply_to_hand: true
+    rand_wrist_pos_range: !!python/tuple
+    - -0.005
+    - 0.005
+    rand_wrist_rot_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_finger_joint_pos_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_object_pos_range: !!python/tuple
+    - -0.005
+    - 0.005
+    rand_object_rot_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_object_joint_range: !!python/tuple
+    - -0.05
+    - 0.05
+    adaptive_kernel_size: 1
+    adaptive_lambda: 0.8
+    adaptive_uniform_ratio: 0.1
+    adaptive_alpha: 0.001
+    adaptive_sampling_enabled: false
+    rsi_enabled: true
+    debug_vis_marker_scale: 0.5
+    debug_vis_keypoints: false
+    debug_vis_contact_force_arrows: false
+    contact_force_arrow_scale: 0.0005
+    contact_force_arrow_min_length: 0.008
+    contact_force_arrow_max_length: 0.12
+    object_pos_lower_bound: !!python/tuple
+    - 0.045902509307201925
+    - 0.1990767601279049
+    - 0.22675348552858263
+    object_pos_upper_bound: !!python/tuple
+    - 0.15030901492990373
+    - 0.3030541084096986
+    - 0.3603803370630856
+    shared_translation_range: !!python/tuple
+    - -0.03
+    - 0.03
+    shared_rotation_range_rad: !!python/tuple
+    - -0.2617993877991494
+    - 0.2617993877991494
+    finger_joint_perturbation_range_rad: !!python/tuple
+    - -0.025
+    - 0.025
+obs_max_lags:
+  object_pos: 2
+  object_quat: 2
+  object_joint: 2
+  hand_wrist_pos: 2
+  hand_wrist_quat: 2
+  hand_joint_pos: 2
+tf_source_prim_path: '{ENV_REGEX_NS}/Robot/r_wrist'
+tf_target_frames:
+  fingertips:
+  - prim_path: /World/envs/env_.*/Robot/r_thumb_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_pinky_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+enable_contact_sensor: true
+include_contact_forces_in_critic_obs: false

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/requirements.txt

@@ -0,0 +1,230 @@
+isaaclab==0.47.2
+isaaclab_assets==0.2.3
+isaaclab_tasks==0.11.6
+isaaclab_rl==0.4.4
+isaacsim-benchmark==5.1.0.0
+isaacsim-example==5.1.0.0
+torchvision==0.22.0
+onnx-ir==1.0.0
+pytransform3d==3.17.0
+tensordict==0.13.0
+portalocker==2.7.0
+Rtree==1.3.0
+nvidia-cusparselt-cu12==0.6.3
+isaacsim-storage==5.1.0.0
+nvidia-cuda-nvrtc-cu12==12.6.77
+wrapt==1.16.0
+osqp==0.6.7.post3
+proglog==0.1.12
+awscrt==0.23.8
+isaacsim-template==5.1.0.0
+isaacsim-extscache-kit-sdk==5.1.0.0
+tqdm==4.70.1
+packaging==23.0
+typing_extensions==4.12.2
+toml==0.10.2
+PyJWT==2.15.1
+psutil==5.9.8
+pluggy==1.6.0
+s3transfer==0.13.1
+gitdb==4.0.12
+charset-normalizer==3.3.2
+isaacsim-test==5.1.0.0
+omegaconf==2.3.1
+aiofiles==23.2.1
+uvicorn==0.29.0
+antlr4-python3-runtime==4.9.3
+gymnasium==1.2.0
+Markdown==3.11
+h5py==3.16.0
+aiohttp==3.11.11
+torchaudio==2.7.0
+certifi==2026.7.22
+filelock==3.13.1
+azure-storage-blob==12.17.0
+isaaclab_tasks==0.11.6
+httptools==0.6.1
+imageio-ffmpeg==0.6.0
+propcache==0.2.1
+yarl==1.18.3
+asteval==1.0.6
+azure-core==1.28.0
+azure-identity==1.13.0
+sympy==1.13.3
+rsl-rl-lib==3.0.1
+qpsolvers==4.13.0
+huggingface_hub==0.36.2
+GitPython==3.2.0
+Pygments==2.21.0
+protobuf==7.36.2
+nvidia-cudnn-cu12==9.5.1.17
+iniconfig==2.3.1
+isaaclab_assets==0.2.3
+loop-rate-limiters==1.2.0
+pin==2.7.0
+hydra-core==1.3.4
+nest-asyncio==1.5.6
+hpp-fcl==2.4.4
+starlette==0.45.3
+einops==0.8.2
+watchdog==4.0.0
+llvmlite==0.42.0
+nvidia-cusolver-cu12==11.7.1.2
+nvidia-nvtx-cu12==12.6.77
+nvidia-cuda-cupti-cu12==12.6.80
+fastapi==0.115.7
+eigenpy==3.5.1
+matplotlib==3.10.3
+idna-ssl==1.1.0
+sentry-sdk==2.29.1
+annotated-types==0.8.0
+isaacsim-robot-setup==5.1.0.0
+oauthlib==3.2.2
+safetensors==0.8.0
+jmespath==1.0.1
+pip==25.3
+isaacsim==5.1.0.0
+kiwisolver==1.4.4
+isaacsim-extscache-kit==5.1.0.0
+requests-oauthlib==1.3.1
+aiobotocore==2.24.0
+lxml==6.1.3
+aioitertools==0.11.0
+urllib3==2.8.0
+pycares==4.8.0
+pytest-mock==3.16.0
+torch==2.7.0
+isaacsim-cortex==5.1.0.0
+importlib_metadata==9.0.1
+tensorboard-data-server==0.7.2
+isaacsim-robot-motion==5.1.0.0
+click==8.5.0
+dex_retargeting==0.4.6
+isaacsim-core==5.1.0.0
+anytree==2.13.0
+Farama-Notifications==0.0.6
+transformers==4.56.2
+isaacsim-robot==5.1.0.0
+isaacsim-rl==5.1.0.0
+fsspec==2024.6.1
+cmeel-qhull==8.0.2.1
+cmeel-console-bridge==1.0.2.3
+hf-xet==1.7.0
+prettytable==3.3.0
+coverage==7.4.4
+multidict==6.1.0
+gunicorn==23.0.0
+Werkzeug==3.1.9
+onnx==1.18.0
+cmeel-octomap==1.10.0
+tensorboard==2.21.0
+Mosek==11.1.2
+typing-inspection==0.4.2
+isaacsim-code-editor==5.1.0.0
+nvidia-cufft-cu12==11.3.0.4
+wcwidth==0.9.2
+cycler==0.11.0
+contourpy==1.3.1
+aiohappyeyeballs==2.4.4
+numpy==1.26.0
+regex==2026.9.29
+idna==3.10
+nvidia-cufile-cu12==1.11.1.6
+PyYAML==6.0.2
+decorator==5.3.1
+cmeel-assimp==5.4.3.1
+drake==1.51.1
+aioboto3==15.1.0
+cloudpickle==3.1.2
+isaacsim-kernel==5.1.0.0
+mpmath==1.3.0
+aiosignal==1.3.2
+pin-pink==3.1.0
+smmap==5.0.3
+fonttools==4.55.3
+isaaclab==0.47.2
+numba==0.59.1
+wandb==0.28.1
+pycparser==3.11
+isaacsim-sensor==5.1.0.0
+pyperclip==1.8.0
+anyio==4.14.2
+Jinja2==3.1.6
+isaaclab_rl==0.4.4
+nvidia-nvjitlink-cu12==12.6.85
+ml_dtypes==0.5.4
+opencv-python-headless==4.11.0.86
+tokenizers==0.22.2
+pypng==0.20220715.0
+flaky==3.8.1
+cmeel-urdfdom==3.1.1.1
+imageio==2.37.0
+python-multipart==0.0.20
+pyglet==1.5.31
+cmeel-tinyxml==2.6.2.3
+websockets==12.0
+botocore==1.39.11
+cmeel==0.61.0
+setuptools==80.9.0
+triton==3.3.0
+h11==0.16.0
+orjson==3.13.0
+msal-extensions==1.0.0
+platformdirs==4.12.4
+cffi==2.1.1
+quadprog==0.1.13
+requests==2.32.3
+networkx==3.3
+isaacsim-app==5.1.0.0
+python-dotenv==1.2.4
+zipp==4.1.1
+qrcode==7.4.2
+nvidia-nccl-cu12==2.26.2
+wheel==0.45.1
+isaacsim-replicator==5.1.0.0
+pyparsing==3.0.9
+isaacsim-ros1==5.1.0.0
+hidapi==0.14.0.post2
+trimesh==4.5.1
+isaacsim-ros2==5.1.0.0
+flatdict==4.0.1
+pydantic==2.11.10
+six==1.17.0
+pydot==3.0.4
+pillow==11.3.0
+isaacsim-extscache-physics==5.1.0.0
+isaacsim-utils==5.1.0.0
+msal==1.27.0
+qdldl==0.1.7.post5
+onnxscript==0.7.1
+python-dateutil==2.9.0.post0
+nvidia-cusparse-cu12==12.5.4.2
+Pint==0.20.1
+pydantic_core==2.33.2
+cmeel-zlib==1.3.2
+cmeel-boost==1.83.0
+grpcio==1.84.0
+attrs==25.1.0
+moviepy==2.2.1
+warp-lang==1.15.0
+nlopt==2.7.1
+nvidia-cublas-cu12==12.6.4.1
+absl-py==2.5.1
+isaacsim-asset==5.1.0.0
+cryptography==44.0.0
+scipy==1.15.3
+isaacsim-gui==5.1.0.0
+nvidia-curand-cu12==10.3.7.77
+pytz==2024.1
+frozenlist==1.5.0
+opencv-python==4.11.0.86
+tornado==6.5.1
+junitparser==5.0.3
+pyvers==0.2.3
+async-timeout==5.0.1
+isodate==0.6.1
+boto3==1.39.11
+aiodns==3.1.1
+pytest==9.1.1
+MarkupSafe==2.1.3
+nvidia-cuda-runtime-cu12==12.6.77

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/resume_metadata.json

@@ -0,0 +1,11 @@
+{
+  "model_state_loaded": true,
+  "optimizer_learning_rates_after_load": [
+    1e-05
+  ],
+  "optimizer_state_entry_count_after_load": 21,
+  "optimizer_state_loaded": true,
+  "resume_checkpoint_sha256": "8a55d9d7f8ad684c05888468dd74a303f4fb9a47dcec1158ffef26690c53f82e",
+  "resume_path": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-4/marker_011/teacher/training/model_4999.pt",
+  "source_learning_iteration": 4999
+}

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/dependencies.json

@@ -0,0 +1,99 @@
+{
+  "status": "INCOMPLETE_FOR_EVALUATION",
+  "evaluation_ready": false,
+  "scope": "Checkpoint and configurations only; matching training inputs are not bundled",
+  "dependencies": [
+    {
+      "role": "human_h5",
+      "training_source_path": "data/new_data_batch1/cases/marker_011/human.h5",
+      "expected_sha256": "ea496f9e9805c51cf640691c079250f33e8cb6a8ab233a8b6a8a23f8be67641d",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "retarget_h5",
+      "training_source_path": "data/new_data_batch1/cases/marker_011/trajectory.h5",
+      "expected_sha256": "d7852cea04bf31865a0bf233cce643656ab869e9865f3d7d35897e1b59b8efdb",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "source_bundle_manifest",
+      "training_source_path": "data/new_data_batch1/manifest.json",
+      "expected_sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "keypoints",
+      "training_source_path": "data/new_data_batch1/objects/marker/keypoints.npy",
+      "expected_sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f",
+      "availability": "EXACT_HASH_EXISTS_IN_PREVIOUS_HF_REVISION",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": [
+        {
+          "repo_id": "FlappyHimself/reorientation-artifacts",
+          "revision": "7e6bef8f22540f90732f8053ccf578a44b367725",
+          "path": "provenance/selected15-20261008-v1/assets/profiles/marker/sharpa_profile/assets/surface_surface_keypoints.npy"
+        },
+        {
+          "repo_id": "FlappyHimself/reorientation-artifacts",
+          "revision": "7e6bef8f22540f90732f8053ccf578a44b367725",
+          "path": "provenance/selected15-20261008-v1/assets/profiles/marker/surface_keypoints.npy"
+        }
+      ]
+    },
+    {
+      "role": "properties",
+      "training_source_path": "data/new_data_batch1/objects/marker/properties.json",
+      "expected_sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "urdf",
+      "training_source_path": "data/new_data_batch1/objects/marker/object.urdf",
+      "expected_sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "usd",
+      "training_source_path": "data/new_data_batch1/objects/marker/object.usda",
+      "expected_sha256": "23472b1831c9051fef037a4981c6108ef0ea626ef3c186889935486f19330dfb",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "visual",
+      "training_source_path": "data/new_data_batch1/objects/marker/visual.obj",
+      "expected_sha256": "435a710afb84d4a3121f0389f60b1424fed93958cac07ce38d1e2e1317814203",
+      "availability": "UNRESOLVED_NOT_BUNDLED",
+      "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence",
+      "hf_matches": []
+    },
+    {
+      "role": "robot_usd",
+      "training_source_path": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+      "expected_sha256": null,
+      "availability": "SOURCE_CONTEXT_DOES_NOT_PROVIDE_SHA256",
+      "hf_matches": []
+    }
+  ],
+  "existing_stage2_comparison": {
+    "revision": "7e6bef8f22540f90732f8053ccf578a44b367725",
+    "path": "objects/marker/trajectories/marker_011/wuji2/stage2/selected15-20261008-v1/trajectory.h5",
+    "sha256": "09778a165d8eddc0be081aadb6ee6228a95edb2be426f1e6315d3791d0ce7a27",
+    "training_retarg_h5_sha256": "d7852cea04bf31865a0bf233cce643656ab869e9865f3d7d35897e1b59b8efdb",
+    "same_bytes": false,
+    "may_use_as_parent_input": false
+  },
+  "robot_usd_source": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+  "note": "Historical absolute/source-relative paths in config are provenance, not portable local inputs. Resolve and hash-check every exact dependency before evaluation; do not substitute the existing same-ID Stage2 release."
+}

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/manifest.json

@@ -0,0 +1,121 @@
+{
+  "schema": "reorientation_wuji2_stage3_checkpoint_archive_v1",
+  "archive_release": "fulldr-reward-selected4-20261011-v1",
+  "take": "marker_011",
+  "object": "marker",
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+  "phase": "fulldr",
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+      "run_name": "marker_011/fulldr/outputs/b1_grav_cur_b1c-4/marker_011/fulldr",
+      "url": "https://wandb.ai/dfnet/dex-retarget/runs/i277x4dj",
+      "state": "finished"
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+    "phase": "FullDR",
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+    "claims": {
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+      "independent_evaluation": "NOT_PROVIDED",
+      "rollout_videos": "NOT_PROVIDED",
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+    }
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+      "bytes": 545
+    },
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+      "bytes": 5299
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+      "path": "objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/provenance.json",
+      "sha256": "6986e5eb18490ff3627e48da3ace8e2fd20463f8ff4a6d46dca9c79f0cdf94bc",
+      "bytes": 1288
+    },
+    {
+      "path": "objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/README.md",
+      "sha256": "1875bd5df18af4bf999fb0d1706c1174b708cbe247c0d787a561d128e9829605",
+      "bytes": 1343
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+  "source_existing_stage2_is_not_training_parent": true
+}

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/provenance.json

@@ -0,0 +1,32 @@
+{
+  "source": {
+    "entity": "dfnet",
+    "project": "dex-retarget",
+    "run_id": "i277x4dj",
+    "run_name": "marker_011/fulldr/outputs/b1_grav_cur_b1c-4/marker_011/fulldr",
+    "url": "https://wandb.ai/dfnet/dex-retarget/runs/i277x4dj",
+    "state": "finished"
+  },
+  "code_commit": "d4d481eddf00872b287e3cff4334fcd12869e71d",
+  "phase": "FullDR",
+  "completed_stage_budget_from_source": {
+    "configured_additional_updates": 5000,
+    "resumed_learning_iteration": 4999,
+    "final_checkpoint_iteration": 9998,
+    "selection": "final optimizer update; not evaluation-selected"
+  },
+  "parent_nominal_checkpoint": {
+    "source_path": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-4/marker_011/teacher/training/model_4999.pt",
+    "sha256": "8a55d9d7f8ad684c05888468dd74a303f4fb9a47dcec1158ffef26690c53f82e",
+    "model_state_loaded": true,
+    "optimizer_state_loaded": true
+  },
+  "normalization": "Observation normalizer state is carried in the source checkpoint; checkpoint bytes preserved. No deserialization or simulation performed in this archive.",
+  "claims": {
+    "reward_selected": true,
+    "independent_evaluation": "NOT_PROVIDED",
+    "rollout_videos": "NOT_PROVIDED",
+    "new_evaluation_run": false,
+    "training_input_equivalence_to_existing_hf_stage2": false
+  }
+}

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/reward_selection.json

@@ -0,0 +1,12 @@
+{
+  "metric": "Episode_Reward/object_keypoints_pos_error_exp",
+  "operator": ">",
+  "threshold": 1.0,
+  "observed_step": 9998,
+  "observed_value": 1.0041738748550415,
+  "rule": "Final checkpoint at the exact logged step, not historical maximum or smoothed reward",
+  "run_id": "i277x4dj",
+  "wandb_url": "https://wandb.ai/dfnet/dex-retarget/runs/i277x4dj",
+  "read_at": 1791753859.8814673,
+  "evaluation_success_inferred": false
+}

objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/wandb_receipt.json

@@ -0,0 +1,13 @@
+{
+  "checkpoint": {
+    "path": "outputs/b1_grav_cur_b1c-4/marker_011/fulldr/training/model_9998.pt",
+    "sha256": "27cd8d79b2458ac6a1e3cb7d7f62e9d0eeb5cbdc4fa04b9c989e3de163e8e56c"
+  },
+  "contents": "model (including observation normalizers), optimizer, iteration and audited stage progress",
+  "mode": "online",
+  "run_id": "i277x4dj",
+  "run_url": "https://wandb.ai/dfnet/dex-retarget/runs/i277x4dj",
+  "schema": "dex_wandb_checkpoint_v1",
+  "selection": "final optimizer update; not evaluation-selected",
+  "wandb_file": "model_9998.pt"
+}

objects/marker/trajectories/marker_011/wuji2/stage3/index.json

@@ -0,0 +1,18 @@
+{
+  "schema": "reorientation_stage3_archive_index_v1",
+  "take": "marker_011",
+  "embodiment": "wuji2",
+  "runs": [
+    {
+      "run_id": "i277x4dj",
+      "manifest": {
+        "path": "objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/manifest.json",
+        "sha256": "341d016fb73443285b52a10e8c9f02befbd7096fc98982f96530b18b27699ecd",
+        "bytes": 5060
+      },
+      "status": "CHECKPOINT_ARCHIVED_DEPENDENCIES_INCOMPLETE",
+      "evaluation_ready": false
+    }
+  ],
+  "scope": "Additional Stage3 archives; original Stage1/Stage2 trajectory manifest remains unchanged"
+}

objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/README.md

@@ -0,0 +1,22 @@
+# scissors_new_006 / WUJI2 FullDR / 58i6zoqd
+
+**CHECKPOINT_ARCHIVED — INCOMPLETE_FOR_EVALUATION**
+
+Final model: `checkpoints/model_9998.pt`. Source [W&B run](https://wandb.ai/dfnet/dex-retarget/runs/58i6zoqd).
+Source FullDR stage:5000 additional PPO updates, resumed iteration4999,
+final saved iteration9998. This is the final model, not a best-reward checkpoint.
+Selection: `Episode_Reward/object_keypoints_pos_error_exp` at logged step9998 = **1.07047105 > 1**.
+Reward selection is not an evaluation pass.
+
+Checkpoint SHA256: `789e3b6a6ccd4e573799b4a39b03f8729040e4a7bf0dc56bf56309810d844f7e`.
+The uploaded file is unchanged and includes the original serialized policy state.
+Exact source configurations, context, resume record and receipt accompany it.
+
+## Missing evaluation inputs
+
+The actual training retarget H5 has SHA256 `2dd7fb9f92fd84abd8a83c639c882f0a4aed2d15dbcaf3ca50bcb2eac48b3a76`.
+The existing same-trajectory HF Stage2 H5 has SHA256 `1e05269832ff56d8b809d2f034851979dc7b0dcd25bc79526c6b87c7bbed3df0`.
+**They are different artifacts. Do not silently substitute the existing Stage2.**
+See [dependencies](dependencies.json) for exact human/retarget H5, geometry,
+source bundle and robot requirements. Historical paths are source provenance only.
+This release does not include newly run evaluation,32-seed metrics or rollout videos.

objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/checkpoints/model_9998.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:789e3b6a6ccd4e573799b4a39b03f8729040e4a7bf0dc56bf56309810d844f7e
+size 20801589

objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/agent.yaml

@@ -0,0 +1,52 @@
+seed: 1
+device: cuda:0
+num_steps_per_env: 24
+max_iterations: 5000
+empirical_normalization: null
+obs_groups: {}
+clip_actions: null
+save_interval: 500
+experiment_name: wuji2_phone_capture_v2
+run_name: fulldr
+logger: wandb
+neptune_project: dex-retarget
+wandb_project: dex-retarget
+resume: true
+load_run: .*
+load_checkpoint: model_.*.pt
+class_name: OnPolicyRunner
+policy:
+  class_name: CustomActorCritic
+  init_noise_std: 0.5
+  noise_std_type: scalar
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  actor_hidden_dims:
+  - 1024
+  - 512
+  - 256
+  - 128
+  critic_hidden_dims:
+  - 1024
+  - 512
+  - 256
+  - 128
+  activation: elu
+  zero_init_actor_last_layer: true
+algorithm:
+  class_name: PPO
+  num_learning_epochs: 5
+  num_mini_batches: 4
+  learning_rate: 0.001
+  schedule: adaptive
+  gamma: 0.998
+  lam: 0.95
+  entropy_coef: 0.002
+  desired_kl: 0.01
+  max_grad_norm: 1.0
+  value_loss_coef: 1.0
+  use_clipped_value_loss: true
+  clip_param: 0.2
+  normalize_advantage_per_mini_batch: false
+  rnd_cfg: null
+  symmetry_cfg: null

objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/config.json

@@ -0,0 +1,1934 @@
+{
+  "alg_cfg": {
+    "lam": 0.95,
+    "gamma": 0.998,
+    "rnd_cfg": null,
+    "schedule": "adaptive",
+    "clip_param": 0.2,
+    "desired_kl": 0.01,
+    "entropy_coef": 0.002,
+    "symmetry_cfg": null,
+    "learning_rate": 0.001,
+    "max_grad_norm": 1,
+    "value_loss_coef": 1,
+    "num_mini_batches": 4,
+    "num_learning_epochs": 5,
+    "use_clipped_value_loss": true,
+    "normalize_advantage_per_mini_batch": false
+  },
+  "env_cfg": {
+    "xr": null,
+    "sim": {
+      "dt": 0.008333333333333333,
+      "physx": {
+        "enable_ccd": false,
+        "solver_type": 1,
+        "gpu_heap_capacity": 67108864,
+        "enable_stabilization": false,
+        "gpu_max_num_partitions": 1,
+        "gpu_collision_stack_size": 268435456,
+        "gpu_temp_buffer_capacity": 16777216,
+        "bounce_threshold_velocity": 0.2,
+        "friction_offset_threshold": 0.01,
+        "gpu_max_particle_contacts": 1048576,
+        "gpu_max_rigid_patch_count": 8388608,
+        "gpu_max_soft_body_contacts": 1048576,
+        "enable_enhanced_determinism": false,
+        "gpu_max_rigid_contact_count": 8388608,
+        "max_position_iteration_count": 192,
+        "max_velocity_iteration_count": 1,
+        "min_position_iteration_count": 1,
+        "min_velocity_iteration_count": 0,
+        "friction_correlation_distance": 0.00625,
+        "gpu_found_lost_pairs_capacity": 2097152,
+        "solve_articulation_contact_last": false,
+        "gpu_total_aggregate_pairs_capacity": 2097152,
+        "gpu_found_lost_aggregate_pairs_capacity": 33554432
+      },
+      "device": "cuda:0",
+      "render": {
+        "dlss_mode": null,
+        "enable_dlssg": null,
+        "carb_settings": null,
+        "enable_shadows": null,
+        "rendering_mode": null,
+        "antialiasing_mode": null,
+        "samples_per_pixel": null,
+        "enable_dl_denoiser": null,
+        "enable_reflections": null,
+        "enable_translucency": null,
+        "enable_direct_lighting": null,
+        "enable_ambient_occlusion": null,
+        "enable_global_illumination": null,
+        "dome_light_upper_lower_strategy": null
+      },
+      "gravity": [
+        0,
+        0,
+        -9.81
+      ],
+      "use_fabric": true,
+      "render_interval": 4,
+      "physics_material": {
+        "func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material",
+        "restitution": 0,
+        "static_friction": 1,
+        "dynamic_friction": 1,
+        "friction_combine_mode": "average",
+        "restitution_combine_mode": "average",
+        "compliant_contact_damping": 0,
+        "compliant_contact_stiffness": 0
+      },
+      "physics_prim_path": "/physicsScene",
+      "create_stage_in_memory": false,
+      "enable_scene_query_support": false
+    },
+    "seed": 1,
+    "scene": {
+      "light": {
+        "spawn": {
+          "func": "isaaclab.sim.spawners.lights.lights:spawn_light",
+          "color": [
+            0.75,
+            0.75,
+            0.75
+          ],
+          "visible": true,
+          "exposure": 0,
+          "intensity": 2000,
+          "normalize": false,
+          "prim_type": "DomeLight",
+          "texture_file": null,
+          "semantic_tags": null,
+          "texture_format": "automatic",
+          "copy_from_source": true,
+          "color_temperature": 6500,
+          "visible_in_primary_ray": true,
+          "enable_color_temperature": false
+        },
+        "debug_vis": false,
+        "prim_path": "/World/Light",
+        "class_type": null,
+        "init_state": {
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+            0,
+            0,
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+            0,
+            0,
+            0
+          ]
+        },
+        "collision_group": 0
+      },
+      "robot": {
+        "spawn": {
+          "func": "regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating",
+          "scale": null,
+          "visible": true,
+          "usd_path": "/data/dexr_b1/cur/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+          "variants": null,
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+        "object_joint": null,
+        "hand_joint_pos": {
+          "clip": null,
+          "func": "regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos",
+          "noise": null,
+          "scale": null,
+          "params": {
+            "delay_key": "hand_joint_pos",
+            "apply_noise": true,
+            "command_name": "motion",
+            "relative_to_default": true
+          },
+          "modifiers": null,
+          "history_length": 3,
+          "flatten_history_dim": true
+        },
+        "hand_wrist_pos": {
+          "clip": null,
+          "func": "regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos",
+          "noise": null,
+          "scale": null,
+          "params": {
+            "delay_key": "hand_wrist_pos",
+            "apply_noise": true,
+            "command_name": "motion",
+            "relative_to_default": false
+          },
+          "modifiers": null,
+          "history_length": 3,
+          "flatten_history_dim": true
+        },
+        "history_length": null,
+        "concatenate_dim": -1,
+        "hand_wrist_rot6d": {
+          "clip": null,
+          "func": "regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d",
+          "noise": null,
+          "scale": null,
+          "params": {
+            "delay_key": "hand_wrist_quat",
+            "apply_noise": true,
+            "command_name": "motion",
+            "relative_to_default": false
+          },
+          "modifiers": null,
+          "history_length": 3,
+          "flatten_history_dim": true
+        },
+        "concatenate_terms": true,
+        "enable_corruption": false,
+        "flatten_history_dim": true,
+        "action_base_hand_joint_pos": {
+          "clip": null,
+          "func": "regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos",
+          "noise": null,
+          "scale": null,
+          "params": {
+            "action_term_name": "joint_pos"
+          },
+          "modifiers": null,
+          "history_length": 0,
+          "flatten_history_dim": true
+        },
+        "action_base_wrist_pos_and_rot6d": {
+          "clip": null,
+          "func": "regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d",
+          "noise": null,
+          "scale": null,
+          "params": {
+            "action_term_name": "root_pose"
+          },
+          "modifiers": null,
+          "history_length": 0,
+          "flatten_history_dim": true
+        }
+      }
+    },
+    "terminations": {
+      "time_out": {
+        "func": "isaaclab.envs.mdp.terminations:time_out",
+        "time_out": true
+      },
+      "hit_table": null,
+      "demo_end_reached": {
+        "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached",
+        "params": {
+          "command_name": "motion"
+        },
+        "time_out": false
+      },
+      "object_deviation": {
+        "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation",
+        "params": {
+          "threshold": 0.15,
+          "command_name": "motion"
+        },
+        "time_out": false
+      },
+      "hand_far_from_object": {
+        "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object",
+        "params": {
+          "threshold": 0.5,
+          "command_name": "motion"
+        },
+        "time_out": false
+      },
+      "object_out_of_bounds": {
+        "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds",
+        "params": {
+          "command_name": "motion"
+        },
+        "time_out": false
+      }
+    },
+    "episode_length_s": 17.766666666666666,
+    "tf_target_frames": {
+      "fingertips": [
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_thumb_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_index_finger_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_middle_finger_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_ring_finger_tip"
+        },
+        {
+          "name": null,
+          "offset": {
+            "pos": [
+              0,
+              0,
+              0
+            ],
+            "rot": [
+              1,
+              0,
+              0,
+              0
+            ]
+          },
+          "prim_path": "/World/envs/env_.*/Robot/r_pinky_tip"
+        }
+      ]
+    },
+    "is_finite_horizon": false,
+    "rerender_on_reset": false,
+    "wait_for_textures": true,
+    "tf_source_prim_path": "{ENV_REGEX_NS}/Robot/r_wrist",
+    "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow",
+    "enable_contact_sensor": true,
+    "export_io_descriptors": false,
+    "io_descriptors_output_dir": null,
+    "include_contact_forces_in_critic_obs": false
+  },
+  "log_dir": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/scissors_new_006/fulldr/training",
+  "policy_cfg": {
+    "activation": "elu",
+    "init_noise_std": 0.5,
+    "noise_std_type": "scalar",
+    "actor_hidden_dims": [
+      1024,
+      512,
+      256,
+      128
+    ],
+    "critic_hidden_dims": [
+      1024,
+      512,
+      256,
+      128
+    ],
+    "actor_obs_normalization": true,
+    "critic_obs_normalization": true,
+    "zero_init_actor_last_layer": true
+  },
+  "runner_cfg": {
+    "seed": 1,
+    "device": "cuda:0",
+    "logger": "wandb",
+    "policy": {
+      "activation": "elu",
+      "init_noise_std": 0.5,
+      "noise_std_type": "scalar",
+      "actor_hidden_dims": [
+        1024,
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        1024,
+        512,
+        256,
+        128
+      ],
+      "actor_obs_normalization": true,
+      "critic_obs_normalization": true,
+      "zero_init_actor_last_layer": true
+    },
+    "resume": true,
+    "load_run": ".*",
+    "run_name": "fulldr",
+    "algorithm": {
+      "lam": 0.95,
+      "gamma": 0.998,
+      "rnd_cfg": null,
+      "schedule": "adaptive",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.002,
+      "symmetry_cfg": null,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1,
+      "value_loss_coef": 1,
+      "num_mini_batches": 4,
+      "num_learning_epochs": 5,
+      "use_clipped_value_loss": true,
+      "normalize_advantage_per_mini_batch": false
+    },
+    "class_name": "OnPolicyRunner",
+    "obs_groups": {
+      "critic": [
+        "critic"
+      ],
+      "policy": [
+        "policy"
+      ]
+    },
+    "clip_actions": null,
+    "save_interval": 500,
+    "wandb_project": "dex-retarget",
+    "max_iterations": 5000,
+    "experiment_name": "wuji2_phone_capture_v2",
+    "load_checkpoint": "model_.*.pt",
+    "neptune_project": "dex-retarget",
+    "num_steps_per_env": 24,
+    "empirical_normalization": null
+  }
+}

objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/context.json

@@ -0,0 +1,56 @@
+{
+  "bundle": {
+    "path": "data/new_data_batch1/manifest.json",
+    "sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd"
+  },
+  "capture_id": "scissors_new_006",
+  "control_hz": 30.0,
+  "control_motion_steps": 533,
+  "geometry": {
+    "keypoints": {
+      "path": "data/new_data_batch1/objects/scissors/keypoints.npy",
+      "sha256": "c0145e274ecd78d8d15f1755131dbc0241bfe02a2c76a5e4d247bf10c6aa917a"
+    },
+    "properties": {
+      "path": "data/new_data_batch1/objects/scissors/properties.json",
+      "sha256": "8f97149180c01a737247bee6ba27fffa469c454768cc987e751e2881047a48d1"
+    },
+    "urdf": {
+      "path": "data/new_data_batch1/objects/scissors/object.urdf",
+      "sha256": "0c7908d8fe4357747a35d814dfa0efc9b2c7de1df43a6cdd7d0bba95dfef1c48"
+    },
+    "usd": {
+      "path": "data/new_data_batch1/objects/scissors/object.usda",
+      "sha256": "081dbe9a53f09594aba09565f71d8bcff8bb4cc8f58776bddafa9223f38dc0b3"
+    },
+    "visual": {
+      "path": "data/new_data_batch1/objects/scissors/visual.obj",
+      "sha256": "ced9ab7c6dc1aa87058204d3e6a969b48ec12405fa60b3915ef79b74ab0b0809"
+    }
+  },
+  "hold_steps": 15,
+  "human": {
+    "path": "data/new_data_batch1/cases/scissors_new_006/human.h5",
+    "sha256": "cd6a1ab1037ce886fbe0e4952d6a74f49a4ba0a3ff9dff4211fe9bff5e11ef93"
+  },
+  "robot_usd": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd",
+  "schema": "dex_prepared_training_context_v1",
+  "source_frames": 1066,
+  "source_hz": 60.0,
+  "terminal_bootstrap_protocol": "WUJI2-TerminalBootstrap-20261008-v1",
+  "training_only": true,
+  "trajectory": {
+    "path": "data/new_data_batch1/cases/scissors_new_006/trajectory.h5",
+    "sha256": "2dd7fb9f92fd84abd8a83c639c882f0a4aed2d15dbcaf3ca50bcb2eac48b3a76"
+  },
+  "workspace_lower_m": [
+    0.10613337684920437,
+    0.261845569644909,
+    0.1483022886894307
+  ],
+  "workspace_upper_m": [
+    0.21412462348185085,
+    0.4201734001835129,
+    0.31234000989960164
+  ]
+}

objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/env.yaml

@@ -0,0 +1,1508 @@
+viewer:
+  eye: !!python/tuple
+  - 0.45
+  - -0.45
+  - 0.32
+  lookat: !!python/tuple
+  - 0.0
+  - 0.0
+  - 0.0
+  cam_prim_path: /OmniverseKit_Persp
+  resolution: !!python/tuple
+  - 1280
+  - 720
+  origin_type: world
+  env_index: 0
+  asset_name: null
+  body_name: null
+sim:
+  physics_prim_path: /physicsScene
+  device: cuda:0
+  dt: 0.008333333333333333
+  render_interval: 4
+  gravity: !!python/tuple
+  - 0.0
+  - 0.0
+  - -9.81
+  enable_scene_query_support: false
+  use_fabric: true
+  physx:
+    solver_type: 1
+    min_position_iteration_count: 1
+    max_position_iteration_count: 192
+    min_velocity_iteration_count: 0
+    max_velocity_iteration_count: 1
+    enable_ccd: false
+    enable_stabilization: false
+    enable_enhanced_determinism: false
+    bounce_threshold_velocity: 0.2
+    friction_offset_threshold: 0.01
+    friction_correlation_distance: 0.00625
+    gpu_max_rigid_contact_count: 8388608
+    gpu_max_rigid_patch_count: 8388608
+    gpu_found_lost_pairs_capacity: 2097152
+    gpu_found_lost_aggregate_pairs_capacity: 33554432
+    gpu_total_aggregate_pairs_capacity: 2097152
+    gpu_collision_stack_size: 268435456
+    gpu_heap_capacity: 67108864
+    gpu_temp_buffer_capacity: 16777216
+    gpu_max_num_partitions: 1
+    gpu_max_soft_body_contacts: 1048576
+    gpu_max_particle_contacts: 1048576
+    solve_articulation_contact_last: false
+  physics_material:
+    func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
+    static_friction: 1.0
+    dynamic_friction: 1.0
+    restitution: 0.0
+    friction_combine_mode: average
+    restitution_combine_mode: average
+    compliant_contact_stiffness: 0.0
+    compliant_contact_damping: 0.0
+  render:
+    enable_translucency: null
+    enable_reflections: null
+    enable_global_illumination: null
+    antialiasing_mode: null
+    enable_dlssg: null
+    enable_dl_denoiser: null
+    dlss_mode: null
+    enable_direct_lighting: null
+    samples_per_pixel: null
+    enable_shadows: null
+    enable_ambient_occlusion: null
+    dome_light_upper_lower_strategy: null
+    carb_settings: null
+    rendering_mode: null
+  create_stage_in_memory: false
+ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
+seed: 1
+decimation: 4
+scene:
+  num_envs: 1024
+  env_spacing: 0.75
+  lazy_sensor_update: true
+  replicate_physics: true
+  filter_collisions: true
+  clone_in_fabric: false
+  table: null
+  object:
+    class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
+    prim_path: /World/envs/env_.*/Object
+    spawn:
+      func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      mass_props: null
+      deformable_props: null
+      rigid_props:
+        rigid_body_enabled: null
+        kinematic_enabled: false
+        disable_gravity: false
+        linear_damping: null
+        angular_damping: null
+        max_linear_velocity: null
+        max_angular_velocity: null
+        max_depenetration_velocity: 5.0
+        max_contact_impulse: null
+        enable_gyroscopic_forces: true
+        retain_accelerations: null
+        solver_position_iteration_count: 8
+        solver_velocity_iteration_count: 0
+        sleep_threshold: 0.005
+        stabilization_threshold: 0.0025
+      collision_props: null
+      activate_contact_sensors: true
+      scale: null
+      articulation_props:
+        articulation_enabled: false
+        enabled_self_collisions: null
+        solver_position_iteration_count: null
+        solver_velocity_iteration_count: null
+        sleep_threshold: null
+        stabilization_threshold: null
+        fix_root_link: null
+      fixed_tendons_props: null
+      spatial_tendons_props: null
+      joint_drive_props: null
+      visual_material_path: material
+      visual_material: null
+      usd_path: /data/dexr_b1/cur/data/new_data_batch1/objects/scissors/object.usda
+      variants: null
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+    collision_group: 0
+    debug_vis: false
+  robot:
+    class_type: isaaclab.assets.articulation.articulation:Articulation
+    prim_path: /World/envs/env_.*/Robot
+    spawn:
+      func: regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      mass_props: null
+      deformable_props: null
+      rigid_props:
+        rigid_body_enabled: null
+        kinematic_enabled: null
+        disable_gravity: true
+        linear_damping: null
+        angular_damping: null
+        max_linear_velocity: null
+        max_angular_velocity: null
+        max_depenetration_velocity: 5.0
+        max_contact_impulse: null
+        enable_gyroscopic_forces: null
+        retain_accelerations: null
+        solver_position_iteration_count: null
+        solver_velocity_iteration_count: null
+        sleep_threshold: null
+        stabilization_threshold: null
+      collision_props:
+        collision_enabled: null
+        contact_offset: 0.0015
+        rest_offset: 0.0012
+        torsional_patch_radius: null
+        min_torsional_patch_radius: null
+      activate_contact_sensors: true
+      scale: null
+      articulation_props:
+        articulation_enabled: null
+        enabled_self_collisions: true
+        solver_position_iteration_count: 32
+        solver_velocity_iteration_count: 1
+        sleep_threshold: 0.005
+        stabilization_threshold: 0.0005
+        fix_root_link: false
+      fixed_tendons_props: null
+      spatial_tendons_props: null
+      joint_drive_props: null
+      visual_material_path: material
+      visual_material: null
+      usd_path: /data/dexr_b1/cur/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd
+      variants: null
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      joint_pos:
+        r_thumb_cmc_flex: 0.0
+        r_thumb_cmc_abd: 0.0
+        r_thumb_mcp: 0.0
+        r_thumb_ip: 0.0
+        r_index_finger_mcp_flex: 0.0
+        r_index_finger_mcp_abd: 0.0
+        r_index_finger_pip: 0.0
+        r_index_finger_dip: 0.0
+        r_middle_finger_mcp_flex: 0.0
+        r_middle_finger_mcp_abd: 0.0
+        r_middle_finger_pip: 0.0
+        r_middle_finger_dip: 0.0
+        r_ring_finger_mcp_flex: 0.0
+        r_ring_finger_mcp_abd: 0.0
+        r_ring_finger_pip: 0.0
+        r_ring_finger_dip: 0.0
+        r_pinky_mcp_flex: 0.0
+        r_pinky_mcp_abd: 0.0
+        r_pinky_pip: 0.0
+        r_pinky_dip: 0.0
+      joint_vel:
+        .*: 0.0
+    collision_group: 0
+    debug_vis: false
+    articulation_root_prim_path: /r_wrist
+    soft_joint_pos_limit_factor: 1.0
+    actuators:
+      fingers:
+        class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
+        joint_names_expr:
+        - r_thumb_cmc_flex
+        - r_thumb_cmc_abd
+        - r_thumb_mcp
+        - r_thumb_ip
+        - r_index_finger_mcp_flex
+        - r_index_finger_mcp_abd
+        - r_index_finger_pip
+        - r_index_finger_dip
+        - r_middle_finger_mcp_flex
+        - r_middle_finger_mcp_abd
+        - r_middle_finger_pip
+        - r_middle_finger_dip
+        - r_ring_finger_mcp_flex
+        - r_ring_finger_mcp_abd
+        - r_ring_finger_pip
+        - r_ring_finger_dip
+        - r_pinky_mcp_flex
+        - r_pinky_mcp_abd
+        - r_pinky_pip
+        - r_pinky_dip
+        effort_limit: null
+        velocity_limit: null
+        effort_limit_sim: null
+        velocity_limit_sim: null
+        stiffness: null
+        damping: null
+        armature: null
+        friction: null
+        dynamic_friction: null
+        viscous_friction: null
+    actuator_value_resolution_debug_print: false
+  light:
+    class_type: null
+    prim_path: /World/Light
+    spawn:
+      func: isaaclab.sim.spawners.lights.lights:spawn_light
+      visible: true
+      semantic_tags: null
+      copy_from_source: true
+      prim_type: DomeLight
+      color: !!python/tuple
+      - 0.75
+      - 0.75
+      - 0.75
+      enable_color_temperature: false
+      color_temperature: 6500.0
+      normalize: false
+      exposure: 0.0
+      intensity: 2000.0
+      texture_file: null
+      texture_format: automatic
+      visible_in_primary_ray: true
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    collision_group: 0
+    debug_vis: false
+  contact_forces:
+    class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
+    prim_path: /World/envs/env_.*/Robot/.*
+    update_period: 0.0
+    history_length: 3
+    debug_vis: true
+    track_pose: false
+    track_contact_points: false
+    max_contact_data_count_per_prim: 4
+    track_air_time: true
+    force_threshold: 0.5
+    filter_prim_paths_expr: []
+    visualizer_cfg:
+      prim_path: /Visuals/ContactSensor
+      markers:
+        contact:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 1.0
+            - 0.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.02
+        no_contact:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
+          visible: false
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 0.0
+            - 1.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 0.5
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.02
+  tf_fingertips:
+    class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
+    prim_path: /World/envs/env_.*/Robot/r_wrist
+    update_period: 0.0
+    history_length: 0
+    debug_vis: false
+    source_frame_offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    target_frames:
+    - prim_path: /World/envs/env_.*/Robot/r_thumb_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/r_pinky_tip
+      name: null
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    visualizer_cfg:
+      prim_path: /Visuals/SiteFrameTransformer_fingertips
+      markers:
+        frame:
+          func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          deformable_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          scale: !!python/tuple
+          - 0.05
+          - 0.05
+          - 0.05
+          articulation_props: null
+          fixed_tendons_props: null
+          spatial_tendons_props: null
+          joint_drive_props: null
+          visual_material_path: material
+          visual_material: null
+          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd
+          variants: null
+        connecting_line:
+          func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          mass_props: null
+          rigid_props: null
+          collision_props: null
+          activate_contact_sensors: false
+          visual_material_path: material
+          visual_material:
+            func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
+            diffuse_color: !!python/tuple
+            - 1.0
+            - 1.0
+            - 0.0
+            emissive_color: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            roughness: 1.0
+            metallic: 0.0
+            opacity: 1.0
+          physics_material_path: material
+          physics_material: null
+          radius: 0.002
+          height: 1.0
+          axis: Z
+recorders:
+  dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
+  dataset_export_dir_path: /tmp/isaaclab/logs
+  dataset_filename: dataset
+  dataset_export_mode:
+    _value_: 1
+    _name_: EXPORT_ALL
+    _sort_order_: 1
+  export_in_record_pre_reset: true
+observations:
+  policy:
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    object_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos
+      params:
+        command_name: motion
+        delay_key: object_pos
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_ori:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori
+      params:
+        command_name: motion
+        delay_key: object_quat
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_joint: null
+    hand_wrist_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos
+      params:
+        command_name: motion
+        delay_key: hand_wrist_pos
+        apply_noise: true
+        relative_to_default: false
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_wrist_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d
+      params:
+        command_name: motion
+        delay_key: hand_wrist_quat
+        apply_noise: true
+        relative_to_default: false
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos
+      params:
+        command_name: motion
+        delay_key: hand_joint_pos
+        apply_noise: true
+        relative_to_default: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    actions:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    command:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_wrist_pos_and_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d
+      params:
+        action_term_name: root_pose
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos
+      params:
+        action_term_name: joint_pos
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+  critic:
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    object_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_ori:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    object_joint: null
+    hand_wrist_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_wrist_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos
+      params:
+        command_name: motion
+        apply_noise: true
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 3
+      flatten_history_dim: true
+    actions:
+      func: isaaclab.envs.mdp.observations:last_action
+      params: {}
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    command:
+      func: isaaclab.envs.mdp.observations:generated_commands
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_wrist_pos_and_rot6d:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d
+      params:
+        action_term_name: root_pose
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    action_base_hand_joint_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos
+      params:
+        action_term_name: joint_pos
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    fingertips_pos:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:fingertips_pos
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    hand_joint_vel:
+      func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_vel
+      params:
+        command_name: motion
+      modifiers: null
+      noise: null
+      clip: null
+      scale: null
+      history_length: 0
+      flatten_history_dim: true
+    target_object_joint: null
+actions:
+  root_pose:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.actions:SE3ImpedanceActionTerm
+    asset_name: robot
+    debug_vis: false
+    clip: null
+    raw_clip: !!python/tuple
+    - -1.0
+    - 1.0
+    scale_pos: 0.03333333333333333
+    scale_rot: 0.10666666666666667
+    translation_delta_frame: world
+    rotation_delta_frame: world
+    max_target_pos_step: null
+    max_target_rot_step: null
+    kp_pos: 300.0
+    kd_pos: 30.0
+    kp_rot: 3.0
+    kd_rot: 0.3
+    base_action_source: motion_target
+    command_name: motion
+    body_name: r_wrist
+  joint_pos:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.actions:ClippedRelativeJointPositionAction
+    asset_name: robot
+    debug_vis: false
+    clip: null
+    joint_names:
+    - r_thumb_cmc_flex
+    - r_thumb_cmc_abd
+    - r_thumb_mcp
+    - r_thumb_ip
+    - r_index_finger_mcp_flex
+    - r_index_finger_mcp_abd
+    - r_index_finger_pip
+    - r_index_finger_dip
+    - r_middle_finger_mcp_flex
+    - r_middle_finger_mcp_abd
+    - r_middle_finger_pip
+    - r_middle_finger_dip
+    - r_ring_finger_mcp_flex
+    - r_ring_finger_mcp_abd
+    - r_ring_finger_pip
+    - r_ring_finger_dip
+    - r_pinky_mcp_flex
+    - r_pinky_mcp_abd
+    - r_pinky_pip
+    - r_pinky_dip
+    scale:
+      .*: 0.10666666666666667
+    offset: 0.0
+    preserve_order: true
+    use_zero_offset: true
+    raw_clip: !!python/tuple
+    - -1.0
+    - 1.0
+    base_action_source: motion_target
+    command_name: motion
+    max_target_step: null
+events:
+  object_com: null
+  object_scale: null
+  object_joint_friction: null
+  robot_physics_material:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_material
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      static_friction_range: !!python/tuple
+      - 0.7
+      - 1.3
+      dynamic_friction_range: !!python/tuple
+      - 0.7
+      - 1.3
+      restitution_range: !!python/tuple
+      - 0.0
+      - 0.0
+      num_buckets: 250
+      make_consistent: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_scale_mass:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_mass
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      mass_distribution_params: !!python/tuple
+      - 0.95
+      - 1.05
+      operation: scale
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_joint_stiffness_and_damping:
+    func: isaaclab.envs.mdp.events:randomize_actuator_gains
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      stiffness_distribution_params: !!python/tuple
+      - 0.9
+      - 1.1
+      damping_distribution_params: !!python/tuple
+      - 0.9
+      - 1.1
+      operation: scale
+      distribution: log_uniform
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  init_zero_joint_default_pos:
+    func: regrind.envs.events:init_zero_joint_default_pos
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_fingers_joint_pos_offset:
+    func: regrind.envs.events:randomize_joint_default_pos
+    params:
+      asset_cfg:
+        name: robot
+        joint_names:
+        - r_(thumb|index_finger|middle_finger|ring_finger)_.*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      pos_distribution_params: !!python/tuple
+      - -0.025
+      - 0.025
+      operation: abs
+      action_term_name: joint_pos
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  robot_wrist_translation_joint_pos_offset: null
+  robot_wrist_rotation_joint_pos_offset: null
+  init_obs_delay_buffers:
+    func: regrind.envs.events:init_obs_delay_buffers
+    params: {}
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  table_physics_material: null
+  object_physics_material:
+    func: isaaclab.envs.mdp.events:randomize_rigid_body_material
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: .*
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      static_friction_range: !!python/tuple
+      - 0.5
+      - 1.5
+      dynamic_friction_range: !!python/tuple
+      - 0.5
+      - 1.5
+      restitution_range: !!python/tuple
+      - 0.0
+      - 0.0
+      num_buckets: 250
+      make_consistent: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  object_scale_mass:
+    func: pipeline.isaac_task:bind_physics
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      randomize: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  observation_time_lag:
+    func: regrind.envs.events:randomize_observation_time_lag
+    params:
+      time_lag_ranges:
+        object_pos: !!python/tuple
+        - 0
+        - 2
+        object_quat: !!python/tuple
+        - 0
+        - 2
+        object_joint: !!python/tuple
+        - 0
+        - 2
+        hand_wrist_pos: !!python/tuple
+        - 0
+        - 2
+        hand_wrist_quat: !!python/tuple
+        - 0
+        - 2
+        hand_joint_pos: !!python/tuple
+        - 0
+        - 2
+      continuous_time_lag: true
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  curriculum_gravity: null
+  curriculum_random_push_robot:
+    func: regrind.envs.events:curriculum_random_push
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      push_velocity_stages:
+      - - 0
+        - x:
+          - -0.05
+          - 0.05
+          y:
+          - -0.05
+          - 0.05
+          z:
+          - -0.05
+          - 0.05
+          roll:
+          - -0.1
+          - 0.1
+          pitch:
+          - -0.1
+          - 0.1
+          yaw:
+          - -0.1
+          - 0.1
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 1.0
+    - 5.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+  curriculum_random_push_object:
+    func: regrind.envs.events:curriculum_random_push
+    params:
+      asset_cfg:
+        name: object
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      push_velocity_stages:
+      - - 0
+        - x:
+          - -0.05
+          - 0.05
+          y:
+          - -0.05
+          - 0.05
+          z:
+          - -0.05
+          - 0.05
+          roll:
+          - -0.1
+          - 0.1
+          pitch:
+          - -0.1
+          - 0.1
+          yaw:
+          - -0.1
+          - 0.1
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 1.0
+    - 5.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+rerender_on_reset: false
+wait_for_textures: true
+xr: null
+teleop_devices:
+  devices: {}
+export_io_descriptors: false
+io_descriptors_output_dir: null
+log_dir: /data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/scissors_new_006/fulldr/training
+is_finite_horizon: false
+episode_length_s: 17.766666666666666
+rewards:
+  object_keypoints_pos_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_keypoints_pos_error_exp
+    params:
+      command_name: motion
+      std: 0.015
+      shaping_func: exp
+    weight: 3.0
+  object_lin_vel_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_lin_vel_error_exp
+    params:
+      command_name: motion
+      std: 1.0
+      shaping_func: exp
+    weight: 1.0
+  object_ang_vel_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_ang_vel_error_exp
+    params:
+      command_name: motion
+      std: 3.14
+      shaping_func: exp
+    weight: 1.0
+  hand_wrist_pos_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_pos_error_exp
+    params:
+      command_name: motion
+      std: 0.02
+      shaping_func: exp
+    weight: 0.1
+  hand_wrist_rot_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_rot_error_exp
+    params:
+      command_name: motion
+      std: 0.2
+      shaping_func: exp
+    weight: 0.1
+  action_l2_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_l2_exp
+    params:
+      command_name: motion
+      std: 1.0
+    weight: 0.5
+  action_rate_l2_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_rate_l2_exp
+    params:
+      command_name: motion
+      std: 0.5
+    weight: 1.0
+  action_out_of_bounds_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_out_of_bounds_exp
+    params:
+      std: 1.0
+    weight: 1.0
+  early_terminated_penalty:
+    func: regrind.tasks.manager_based.dexterous.mdp.rewards:is_early_terminated
+    params: {}
+    weight: -10.0
+  fingertip_object_graph_error_exp:
+    func: regrind.tasks.manager_based.dexterous.mdp.episode1_rewards:fingertip_object_graph_error_exp
+    params:
+      command_name: motion
+      std: 0.03
+    weight: 0.75
+  functional_terminal_pose_exp: null
+  forbidden_root_phone_contact: null
+terminations:
+  time_out:
+    func: isaaclab.envs.mdp.terminations:time_out
+    params: {}
+    time_out: true
+  demo_end_reached:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached
+    params:
+      command_name: motion
+    time_out: false
+  object_deviation:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation
+    params:
+      command_name: motion
+      threshold: 0.15
+    time_out: false
+  object_out_of_bounds:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds
+    params:
+      command_name: motion
+    time_out: false
+  hand_far_from_object:
+    func: regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object
+    params:
+      command_name: motion
+      threshold: 0.5
+    time_out: false
+  hit_table: null
+curriculum: {}
+commands:
+  motion:
+    class_type: regrind.tasks.manager_based.dexterous.mdp.commands:MotionCommand
+    resampling_time_range: !!python/tuple
+    - 1000000000.0
+    - 1000000000.0
+    debug_vis: false
+    object_asset_name: object
+    robot_asset_name: robot
+    tf_asset_names:
+    - tf_fingertips
+    demo_path: /data/dexr_b1/cur/data/new_data_batch1/cases/scissors_new_006/human.h5
+    demo_dt: 0.016666666666666666
+    retargeted_traj_path: /data/dexr_b1/cur/data/new_data_batch1/cases/scissors_new_006/trajectory.h5
+    required_robot_root_mode: free
+    source_frame_count: null
+    consumer_window_start_inclusive: null
+    consumer_window_end_exclusive: null
+    required_frame_indexed_datasets: !!python/tuple []
+    terminal_hold_steps: 0
+    reference_steps: 533
+    augmentation_traj_dir: null
+    keypoint_paths:
+      bottom: /data/dexr_b1/cur/data/new_data_batch1/objects/scissors/keypoints.npy
+    keypoint_body_prim_paths:
+      bottom: '{ENV_REGEX_NS}/Object/bottom'
+    keypoint_scale: 1.0
+    object_joint_axis: null
+    actuated_joint_names:
+    - r_thumb_cmc_flex
+    - r_thumb_cmc_abd
+    - r_thumb_mcp
+    - r_thumb_ip
+    - r_index_finger_mcp_flex
+    - r_index_finger_mcp_abd
+    - r_index_finger_pip
+    - r_index_finger_dip
+    - r_middle_finger_mcp_flex
+    - r_middle_finger_mcp_abd
+    - r_middle_finger_pip
+    - r_middle_finger_dip
+    - r_ring_finger_mcp_flex
+    - r_ring_finger_mcp_abd
+    - r_ring_finger_pip
+    - r_ring_finger_dip
+    - r_pinky_mcp_flex
+    - r_pinky_mcp_abd
+    - r_pinky_pip
+    - r_pinky_dip
+    fingertip_keypoint_indices: !!python/tuple
+    - 4
+    - 8
+    - 12
+    - 16
+    - 20
+    fingertip_frame_names: !!python/tuple
+    - r_thumb_tip
+    - r_index_finger_tip
+    - r_middle_finger_tip
+    - r_ring_finger_tip
+    - r_pinky_tip
+    enable_reset_perturbation: true
+    traj_aug_enabled: false
+    traj_aug_translation_lower_bound: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    traj_aug_translation_upper_bound: !!python/tuple
+    - 0.0
+    - 0.0
+    - 0.0
+    traj_aug_yaw_range: !!python/tuple
+    - 0.0
+    - 0.0
+    traj_aug_start: 0.0
+    traj_aug_use: 1.0
+    traj_aug_apply_to_hand: true
+    rand_wrist_pos_range: !!python/tuple
+    - -0.005
+    - 0.005
+    rand_wrist_rot_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_finger_joint_pos_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_object_pos_range: !!python/tuple
+    - -0.005
+    - 0.005
+    rand_object_rot_range: !!python/tuple
+    - -0.05
+    - 0.05
+    rand_object_joint_range: !!python/tuple
+    - -0.05
+    - 0.05
+    adaptive_kernel_size: 1
+    adaptive_lambda: 0.8
+    adaptive_uniform_ratio: 0.1
+    adaptive_alpha: 0.001
+    adaptive_sampling_enabled: false
+    rsi_enabled: true
+    debug_vis_marker_scale: 0.5
+    debug_vis_keypoints: false
+    debug_vis_contact_force_arrows: false
+    contact_force_arrow_scale: 0.0005
+    contact_force_arrow_min_length: 0.008
+    contact_force_arrow_max_length: 0.12
+    object_pos_lower_bound: !!python/tuple
+    - 0.10613337684920437
+    - 0.261845569644909
+    - 0.1483022886894307
+    object_pos_upper_bound: !!python/tuple
+    - 0.21412462348185085
+    - 0.4201734001835129
+    - 0.31234000989960164
+    shared_translation_range: !!python/tuple
+    - -0.03
+    - 0.03
+    shared_rotation_range_rad: !!python/tuple
+    - -0.2617993877991494
+    - 0.2617993877991494
+    finger_joint_perturbation_range_rad: !!python/tuple
+    - -0.025
+    - 0.025
+obs_max_lags:
+  object_pos: 2
+  object_quat: 2
+  object_joint: 2
+  hand_wrist_pos: 2
+  hand_wrist_quat: 2
+  hand_joint_pos: 2
+tf_source_prim_path: '{ENV_REGEX_NS}/Robot/r_wrist'
+tf_target_frames:
+  fingertips:
+  - prim_path: /World/envs/env_.*/Robot/r_thumb_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+  - prim_path: /World/envs/env_.*/Robot/r_pinky_tip
+    name: null
+    offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+enable_contact_sensor: true
+include_contact_forces_in_critic_obs: false