{
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   "vx": 0.35,
   "vy": 0.25
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  "left_stick_y": "GROOT_WBC_G1 vx_body",
  "lowerbody_backend": "groot_wbc_g1",
  "pitch_mode_control": "hold left grip",
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  "policy_walk_switch_speed": 0.05,
  "right_stick_x": "GROOT_WBC_G1 wz",
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  "yaw_mode": "base"
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    "discard_breakdown": {
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     "operator_discarded_successes": 0,
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  "started_at": "2026-09-12T21:33:22Z",
  "success_rate_human": 0.4603174603174603,
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 },
 "collector": "session.py",
 "control_step_seconds": 0.02,
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  "action_representation": "absolute",
  "camera_keys": [
   "head",
   "right_wrist",
   "left_wrist"
  ],
  "camera_shape": [
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   84
  ],
  "control_pelvis": true,
  "controller": {
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   "base_action_mode": "lowerbody_cmd",
   "cmd_clip": 1.0,
   "default_height_cmd": 0.74,
   "default_pitch_cmd": 0.0,
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   "height_cmd_max": null,
   "height_cmd_min": null,
   "init_pelvis_z": 0.75,
   "init_stance": "keyframe",
   "model_path": null,
   "passive_base_tilt": true,
   "pitch_cmd_max": null,
   "pitch_cmd_min": null,
   "pitch_command": true,
   "reset_warmup_steps": 200,
   "skyhook_damping": 0.0,
   "skyhook_kp": 0.0,
   "use_height_cmd": true,
   "wz_clip": 1.0
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  "episode_length": 60000,
  "event_progress_enabled": false,
  "event_reward_holding_bonus": 0.0,
  "event_reward_lift_bonus": 0.0,
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  "initialization_profile": "upstream",
  "normalize_low_dim_obs": true,
  "reach_tolerance": null,
  "render_mode": "rgb_array",
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  "state_keys": [
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   "proprioception_grippers",
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  "success_hold_seconds": 1.0,
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 },
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  "per_step": [
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   "full_qpos",
   "full_qvel",
   "raw_outer_action",
   "expanded_action",
   "lowerbody_action",
   "leg_joint_targets",
   "torso_target",
   "lowerbody_command",
   "height_command"
  ],
  "store_fullbody": true,
  "training_action_field": "action remains the normalized outer action",
  "wall_clock_semantics": "seconds since collector start (time.perf_counter). The sim time axis is k * control_step_seconds by construction; wall_clock is a diagnostic for capture-rate jitter only and is never used for training or replay."
 },
 "format": "bigym_replay_npz",
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  "full_joint_names": [
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   "right_hip_roll_joint",
   "right_hip_yaw_joint",
   "right_knee_joint",
   "right_ankle_pitch_joint",
   "right_ankle_roll_joint",
   "waist_yaw_joint",
   "waist_roll_joint",
   "waist_pitch_joint",
   "left_shoulder_pitch_joint",
   "left_shoulder_roll_joint",
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   "left_elbow_joint",
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   "left_wrist_pitch_joint",
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   "left_dex1_finger_joint_1",
   "left_dex1_finger_joint_2",
   "right_shoulder_pitch_joint",
   "right_shoulder_roll_joint",
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   "right_elbow_joint",
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   "right_wrist_pitch_joint",
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  "gripper_count": 2,
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   "pelvis_y",
   "pelvis_z",
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  ],
  "inner_limb_actuator_names": [
   "left_hip_pitch_joint",
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   "left_hip_yaw_joint",
   "left_knee_joint",
   "left_ankle_pitch_joint",
   "left_ankle_roll_joint",
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   "right_hip_roll_joint",
   "right_hip_yaw_joint",
   "right_knee_joint",
   "right_ankle_pitch_joint",
   "right_ankle_roll_joint",
   "waist_yaw_joint",
   "waist_roll_joint",
   "waist_pitch_joint",
   "left_shoulder_pitch_joint",
   "left_shoulder_roll_joint",
   "left_shoulder_yaw_joint",
   "left_elbow_joint",
   "left_wrist_roll_joint",
   "left_wrist_pitch_joint",
   "left_wrist_yaw_joint",
   "right_shoulder_pitch_joint",
   "right_shoulder_roll_joint",
   "right_shoulder_yaw_joint",
   "right_elbow_joint",
   "right_wrist_roll_joint",
   "right_wrist_pitch_joint",
   "right_wrist_yaw_joint"
  ],
  "leg_joint_names": [
   "left_hip_pitch_joint",
   "left_hip_roll_joint",
   "left_hip_yaw_joint",
   "left_knee_joint",
   "left_ankle_pitch_joint",
   "left_ankle_roll_joint",
   "right_hip_pitch_joint",
   "right_hip_roll_joint",
   "right_hip_yaw_joint",
   "right_knee_joint",
   "right_ankle_pitch_joint",
   "right_ankle_roll_joint",
   "waist_yaw_joint",
   "waist_roll_joint",
   "waist_pitch_joint"
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  "limb_names": [
   "left_shoulder_pitch_joint",
   "left_shoulder_roll_joint",
   "left_shoulder_yaw_joint",
   "left_elbow_joint",
   "left_wrist_roll_joint",
   "left_wrist_pitch_joint",
   "left_wrist_yaw_joint",
   "right_shoulder_pitch_joint",
   "right_shoulder_roll_joint",
   "right_shoulder_yaw_joint",
   "right_elbow_joint",
   "right_wrist_roll_joint",
   "right_wrist_pitch_joint",
   "right_wrist_yaw_joint"
  ],
  "outer_action_dim": 21,
  "outer_action_high": [
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  "qpos_dim": 60,
  "qvel_dim": 57
 },
 "lowerbody_policy": {
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  "backend": "groot_wbc_g1",
  "base_action_mode": "lowerbody_cmd",
  "cmd_clip": 1.0,
  "command_adapter": {
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   "anchor_gate_enabled": false,
   "anchor_low_speed_threshold": 0.05,
   "anchor_xy_threshold": 0.25,
   "anchor_yaw_threshold": 0.35,
   "checkpoint_path": null,
   "device": "cpu",
   "enabled": false,
   "feature_dim": 42,
   "hidden_dim": 128,
   "max_delta": [
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   "num_layers": 3,
   "residual_scale": 1.0
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  "default_height_cmd": 0.98,
  "device": "cpu",
  "enabled": true,
  "groot_wbc_g1": {
   "default_height_cmd": 0.74,
   "enable_pitch_cmd": true,
   "init_pelvis_z": 0.75,
   "passive_base_tilt": true,
   "repo_root": "<groot-checkout>"
  },
  "init_foot_backward_offset": 0.0,
  "init_pelvis_z": 0.92,
  "init_stance": "keyframe",
  "reset_warmup_steps": 200,
  "route_pelvis_rz_to_torso": false,
  "specialist_switch_enabled": false,
  "specialist_switch_threshold": 0.5,
  "stand_checkpoint_path": null,
  "support_base_with_legs": true,
  "use_height_cmd": true,
  "walk_checkpoint_path": null,
  "waypoint_skill": {
   "action_xy_clip": 0.45,
   "action_yaw_clip": 0.45,
   "checkpoint_path": null,
   "demo_lookahead_steps": 8,
   "device": "cpu",
   "step_frac_mode": "zero",
   "zero_waypoint_passthrough": true,
   "zero_waypoint_threshold": 1e-06
  },
  "wz_clip": 1.0
 },
 "outer_action_floating_dofs": [
  "pelvis_x",
  "pelvis_y",
  "pelvis_z",
  "pelvis_rz",
  "pelvis_ry"
 ],
 "outer_limb_actuator_names": [
  "left_shoulder_pitch_joint",
  "left_shoulder_roll_joint",
  "left_shoulder_yaw_joint",
  "left_elbow_joint",
  "left_wrist_roll_joint",
  "left_wrist_pitch_joint",
  "left_wrist_yaw_joint",
  "right_shoulder_pitch_joint",
  "right_shoulder_roll_joint",
  "right_shoulder_yaw_joint",
  "right_elbow_joint",
  "right_wrist_roll_joint",
  "right_wrist_pitch_joint",
  "right_wrist_yaw_joint"
 ],
 "package_versions": {
  "dm-control": "1.0.41",
  "mink": "1.2.0",
  "mujoco": "3.8.1",
  "python": "3.12.3"
 },
 "pipeline_version": "2026-08-26-success-hold-training-view-v1",
 "raw_outer_action_bounds": {
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 },
 "recommended_episode_length": 87500,
 "recommended_episode_length_rule": "ceil(2.0 x longest demo across 1 batch(es), min 2000, round up to 500, capped at collection budget); stamped by scripts/recommend_demo_episode_length.py",
 "reset_semantics": {
  "default_height_cmd": 0.74,
  "demo_start": "post_warmup_vr_engage_state",
  "engage_snapshot_fields": "init_qpos, init_qvel, init_ctrl, init_qacc_warmstart, lb_state.*",
  "init_keyframe": "g1_groot_wbc_default_angles",
  "init_pelvis_z": 0.75,
  "init_stance": "keyframe",
  "init_stance_qpos": null,
  "pre_engage_steps_saved_per_episode": true,
  "reset_warmup_seconds": 4.0,
  "reset_warmup_source": "task_yaml",
  "reset_warmup_steps": 200
 },
 "substrate_fingerprint": {
  "action_dim": 21,
  "action_representation": "absolute",
  "compiled_model_sha256": "c73c2ddbc3ad868c14fd7ac2d610776b28944fc72c851b152481bd735fe9ae2c",
  "contact_signature": "e1a15748e0af3299",
  "control_step_seconds": 0.02,
  "demo_down_sample_rate": 10,
  "episode_length": 60000,
  "g1_passive_base_tilt": true,
  "initialization_profile": "upstream",
  "low_dim_component_slices": {
   "proprioception": [
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    50
   ],
   "proprioception_floating_base": [
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    56
   ],
   "proprioception_grippers": [
    50,
    52
   ]
  },
  "lowerbody_backend": "groot_wbc_g1",
  "lowerbody_base_action_mode": "lowerbody_cmd",
  "lowerbody_init_stance": "keyframe",
  "lowerbody_pitch_cmd": true,
  "lowerbody_weights": {
   "GR00T-WholeBodyControl-Balance.onnx": "f645da599d4ca3d29ed273c8f4712620bb680d34977469ca3aeabe5bb9631c18",
   "GR00T-WholeBodyControl-Walk.onnx": "7c82255b6905ffcc4468fa7f8ddcf7b70db168cf1042107ccab887cb6a8e5407"
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  "mujoco_version": "3.8.1",
  "reach_tolerance": null,
  "reset_warmup_steps": 200,
  "robot_model": "g1_dex1",
  "solver": 2,
  "substrate_version": "bigym2-mj381-v1",
  "success_hold_seconds": 3.0,
  "task": "stack_blocks",
  "upper_delta_scale_rad": null
 },
 "success_hold_trim": {
  "control_step_seconds": 0.02,
  "date": "2026-09-13",
  "method": "drop the surplus terminal hold; keep one terminal reward; move discount=0 to the new final frame",
  "source_batch": "merged_20260913_60_hold3s",
  "source_success_hold_seconds": 3.0,
  "target_success_hold_seconds": 1.0,
  "trim_frames": 100,
  "trim_seconds": 2.0
 },
 "task": {
  "action_mode": "absolute",
  "camera_keys": [
   "head",
   "right_wrist",
   "left_wrist"
  ],
  "camera_shape": [
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   84
  ],
  "collect_success_hold_seconds": 3.0,
  "control_pelvis": true,
  "demo_down_sample_rate": 10,
  "enable_all_floating_dof": true,
  "episode_length": 60000,
  "initialization_profile": "upstream",
  "lowerbody_policy": {
   "action_clip": 5.0,
   "backend": "groot_wbc_g1",
   "base_action_mode": "lowerbody_cmd",
   "cmd_clip": 1.0,
   "command_adapter": {
    "allow_missing_checkpoint": false,
    "anchor_gate_enabled": false,
    "anchor_low_speed_threshold": 0.05,
    "anchor_xy_threshold": 0.25,
    "anchor_yaw_threshold": 0.35,
    "checkpoint_path": null,
    "device": "cpu",
    "enabled": false,
    "feature_dim": 42,
    "hidden_dim": 128,
    "max_delta": [
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     0.25,
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    ],
    "num_layers": 3,
    "residual_scale": 1.0
   },
   "default_height_cmd": 0.98,
   "device": "cpu",
   "enabled": true,
   "groot_wbc_g1": {
    "default_height_cmd": 0.74,
    "enable_pitch_cmd": true,
    "init_pelvis_z": 0.75,
    "passive_base_tilt": true,
    "repo_root": "<groot-checkout>"
   },
   "init_foot_backward_offset": 0.0,
   "init_pelvis_z": 0.92,
   "init_stance": "keyframe",
   "reset_warmup_steps": 200,
   "route_pelvis_rz_to_torso": true,
   "specialist_switch_enabled": false,
   "specialist_switch_threshold": 0.5,
   "stand_checkpoint_path": null,
   "support_base_with_legs": true,
   "use_height_cmd": true,
   "walk_checkpoint_path": null,
   "waypoint_skill": {
    "action_xy_clip": 0.45,
    "action_yaw_clip": 0.45,
    "checkpoint_path": null,
    "demo_lookahead_steps": 8,
    "device": "cpu",
    "step_frac_mode": "zero",
    "zero_waypoint_passthrough": true,
    "zero_waypoint_threshold": 1e-06
   },
   "wz_clip": 1.0
  },
  "normalize_low_dim_obs": true,
  "num_demos": 60,
  "reach_tolerance": null,
  "render_mode": "rgb_array",
  "robot_model": "g1_dex1",
  "state_keys": [
   "proprioception",
   "proprioception_grippers",
   "proprioception_floating_base"
  ],
  "success_hold_seconds": 1.0,
  "task_name": "stack_blocks",
  "training_success_hold_seconds": 1.0
 },
 "vr_space": {
  "heading_alignment": "current_hmd_forward_to_robot_forward",
  "mode": "follow_head",
  "recenter_trigger": "left_x_or_right_a",
  "settle_view": "curtain",
  "startup_auto_recenter": false,
  "transform_applies_to": [
   "stereo_views",
   "left_controller",
   "right_controller"
  ]
 }
}