Add DeepMimic direct 26-clip deployment

deepmimic-direct-no-fld-26clips/README.md

@@ -0,0 +1,12 @@
+# deepmimic-direct-no-fld-26clips
+
+Direct-observation DeepMimic tracker trained on 26 motion clips. This policy does not use FLD.
+
+- Input: 134 values (47 current-state values plus three 29-value future target frames)
+- Output: 14 normalized joint targets, clamped to `[-1, 1]` inside the exported policy
+- Control rate: 30 Hz
+- Evaluation: 97% clip completion over 100 Isaac Lab episodes
+
+The motion library and exact resolved training configuration are included because future reference
+targets are exogenous policy inputs. A velocity-command-only observation builder cannot run this
+tracker without adding the `future_target_step_1/2/3` terms described in `deploy.yaml`.

deepmimic-direct-no-fld-26clips/SHA256SUMS

@@ -0,0 +1,8 @@
+f72bf72164e764e9253324d6ac8455ab5e79b47cc39f2910fae96dbdafa8894b  README.md
+834993a6d84fcd3d1fa9bdbd6e2462ebff7b66171a0d57a919135b5409b201a9  bones_canonical_omni_26.manifest.json
+b2a4d210c0b8602c9a0d23b7f526c89b54a681f5953d753c86c224a9832f5b58  bones_canonical_omni_26.npz
+218475782a2f4e33273c358082d33131908b3442e91c703a5c04fac812f2c2bd  deploy.yaml
+0dd923a4b071b5b906ecb6c5014cd4cfd1f8c8206446aae7a3fc0836e790d799  policy.onnx
+c73f5f956217489d8a71d5107f175cd6ecdb12510e57d56af0c4302b7c8dd62c  policy.pt
+4871e95d4b830bc2762baacea04ae591087269ad1504792dba46a12831af396e  resolved.yaml
+bef957e912c6fef8d9cec9824b1b3269f619b22ea85b4b5beb6275c1d0a13100  training_checkpoint.pt

deepmimic-direct-no-fld-26clips/bones_canonical_omni_26.manifest.json

@@ -0,0 +1,226 @@
+{
+  "schema_version": 1,
+  "name": "bones_canonical_omni_26",
+  "description": "Canonical core plus the least crossing lateral candidates in both directions.",
+  "dataset": "/home/katari/datasets/bones_seed/deepmimic/bones_canonical_omni_26.npz",
+  "sha256": "b2a4d210c0b8602c9a0d23b7f526c89b54a681f5953d753c86c224a9832f5b58",
+  "size_bytes": 7966375,
+  "frames": 5343,
+  "duration_seconds": 178.1,
+  "fps": 30,
+  "clips": 26,
+  "categories": {
+    "backward_loop_fast": 1,
+    "backward_loop_slow": 1,
+    "backward_start": 1,
+    "backward_stop": 1,
+    "forward_loop_fast": 1,
+    "forward_loop_medium": 1,
+    "forward_loop_slow": 1,
+    "forward_start": 1,
+    "forward_stop": 1,
+    "lateral_left_loop": 1,
+    "lateral_left_start": 1,
+    "lateral_left_stop": 1,
+    "lateral_right_loop": 1,
+    "lateral_right_start": 1,
+    "lateral_right_stop": 1,
+    "stand": 3,
+    "turn_clockwise_loop": 2,
+    "turn_clockwise_start": 1,
+    "turn_clockwise_stop": 1,
+    "turn_counterclockwise_loop": 2,
+    "turn_counterclockwise_start": 1,
+    "turn_counterclockwise_stop": 1
+  },
+  "source_dataset": "/home/katari/datasets/bones_seed/amp/bones_seed_balanced_with_sideways_more_knee_motion.npz",
+  "source_sha256": "29bb0cdd1920232fa81d33e140f58e4c75be0a1c2aa7daa2860e80a49431bd8a",
+  "selection": "/home/katari/.rc_worktrees/rl-deepmimic-skrl/configs/deepmimic/selections/canonical_omni_26.yaml",
+  "selection_sha256": "f4d9d3ed903b3d519b0c42e186e249aa0ab87d8974085fa7994d9310a95970bf",
+  "entries": [
+    {
+      "name": "idle_loop_001__A095",
+      "category": "stand",
+      "label": "neutral position",
+      "actor": "A095",
+      "frames": 240
+    },
+    {
+      "name": "idle_loop_002__A041",
+      "category": "stand",
+      "label": "neutral position",
+      "actor": "A041",
+      "frames": 240
+    },
+    {
+      "name": "idle_loop_001__A094",
+      "category": "stand",
+      "label": "neutral position",
+      "actor": "A094",
+      "frames": 240
+    },
+    {
+      "name": "walk_ff_loop_180_R_001__A046",
+      "category": "forward_loop_slow",
+      "label": "strolling forward",
+      "actor": "A046",
+      "frames": 234
+    },
+    {
+      "name": "walk_ff_loop_180_R_001__A147",
+      "category": "forward_loop_medium",
+      "label": "strolling forward",
+      "actor": "A147",
+      "frames": 119
+    },
+    {
+      "name": "walk_ff_loop_180_R_001__A236",
+      "category": "forward_loop_fast",
+      "label": "strolling forward",
+      "actor": "A236",
+      "frames": 135
+    },
+    {
+      "name": "walk_ff_start_180_R_001__A236",
+      "category": "forward_start",
+      "label": "beginning to walk forward with the right leg",
+      "actor": "A236",
+      "frames": 157
+    },
+    {
+      "name": "walk_ff_stop_180_R_001__A046",
+      "category": "forward_stop",
+      "label": "stop walking forward, finish with left leg",
+      "actor": "A046",
+      "frames": 240
+    },
+    {
+      "name": "walk_backward_loop_001__A043",
+      "category": "backward_loop_slow",
+      "label": "walk backward",
+      "actor": "A043",
+      "frames": 240
+    },
+    {
+      "name": "walk_backward_loop_001__A031",
+      "category": "backward_loop_fast",
+      "label": "walk backward",
+      "actor": "A031",
+      "frames": 240
+    },
+    {
+      "name": "walk_backward_start_001__A039",
+      "category": "backward_start",
+      "label": "start walking backwards with left leg",
+      "actor": "A039",
+      "frames": 208
+    },
+    {
+      "name": "walk_backward_stop_001__A043",
+      "category": "backward_stop",
+      "label": "walking backward then stop",
+      "actor": "A043",
+      "frames": 175
+    },
+    {
+      "name": "walk_arc_cw_loop_001__A093",
+      "category": "turn_clockwise_loop",
+      "label": "walking clockwise in an arc",
+      "actor": "A093",
+      "frames": 240
+    },
+    {
+      "name": "walk_arc_cw_loop_R_001__A214",
+      "category": "turn_clockwise_loop",
+      "label": "walking clockwise in an arc",
+      "actor": "A214",
+      "frames": 199
+    },
+    {
+      "name": "arc_walk_left_loop_001__A034",
+      "category": "turn_counterclockwise_loop",
+      "label": "walking counterclockwise in an arc, leftside",
+      "actor": "A034",
+      "frames": 240
+    },
+    {
+      "name": "arc_walk_left_loop_002__A043",
+      "category": "turn_counterclockwise_loop",
+      "label": "walking counterclockwise in an arc, leftside",
+      "actor": "A043",
+      "frames": 240
+    },
+    {
+      "name": "walk_arc_cw_start_001__A055",
+      "category": "turn_clockwise_start",
+      "label": "start walking clockwise in an arc",
+      "actor": "A055",
+      "frames": 175
+    },
+    {
+      "name": "walk_arc_cw_stop_001__A046",
+      "category": "turn_clockwise_stop",
+      "label": "stop walking clockwise in an arc",
+      "actor": "A046",
+      "frames": 240
+    },
+    {
+      "name": "arc_walk_left_start_002__A043",
+      "category": "turn_counterclockwise_start",
+      "label": "start walking counterclockwise in an arc, start with left leg",
+      "actor": "A043",
+      "frames": 172
+    },
+    {
+      "name": "arc_walk_left_stop_002__A043",
+      "category": "turn_counterclockwise_stop",
+      "label": "stop walking counterclockwise in an arc,",
+      "actor": "A043",
+      "frames": 210
+    },
+    {
+      "name": "walk_sideway_090_loop_002__A030",
+      "category": "lateral_left_loop",
+      "note": "No measured foot crossing; lateral retargeting remains provisional.",
+      "label": "walk sideways to the left",
+      "actor": "A030",
+      "frames": 194
+    },
+    {
+      "name": "walk_ff_loop_270_001__A055",
+      "category": "lateral_right_loop",
+      "note": "No measured foot crossing; stance foot slide is higher than the core library.",
+      "label": "walking sideways to the right",
+      "actor": "A055",
+      "frames": 201
+    },
+    {
+      "name": "walk_sideway_090_start_001__A033",
+      "category": "lateral_left_start",
+      "label": "starting a sidelong walk to the left, taking the first step with the left leg",
+      "actor": "A033",
+      "frames": 151
+    },
+    {
+      "name": "walk_ff_start_270_001__A055",
+      "category": "lateral_right_start",
+      "label": "start walking sideways to the right",
+      "actor": "A055",
+      "frames": 233
+    },
+    {
+      "name": "walk_sideway_090_stop_001__A041",
+      "category": "lateral_left_stop",
+      "label": "stop walking sideways to the left",
+      "actor": "A041",
+      "frames": 170
+    },
+    {
+      "name": "walk_ff_stop_270_001__A176",
+      "category": "lateral_right_stop",
+      "label": "stop walking sideways to the right",
+      "actor": "A176",
+      "frames": 210
+    }
+  ]
+}

deepmimic-direct-no-fld-26clips/bones_canonical_omni_26.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a4d210c0b8602c9a0d23b7f526c89b54a681f5953d753c86c224a9832f5b58
+size 7966375

deepmimic-direct-no-fld-26clips/deploy.yaml

@@ -0,0 +1,452 @@
+experiment_name: deepmimic-direct-no-fld-26clips
+task: RC-Humanoid-DeepMimic-Direct-v0
+algorithm: DeepMimic PPO (SKRL)
+reference_encoding: future_targets
+uses_fld: false
+interface: lo
+sim2sim: true
+policy_path: policy.pt
+onnx_policy_path: policy.onnx
+training_checkpoint_path: training_checkpoint.pt
+num_actions: 14
+action_scale:
+- 0.3149999976158142
+- 1.4137163162231445
+- 1.3499999046325684
+- 1.3499999046325684
+- 0.23534999787807465
+- 0.23534999787807465
+- 0.44999995827674866
+- 0.44999995827674866
+- 0.7199999094009399
+- 0.7199999094009399
+- 0.35999995470046997
+- 0.35999995470046997
+- 0.35999995470046997
+- 0.35999995470046997
+action_clip:
+- -1.0
+- 1.0
+use_default_offset: true
+control_dt: 0.03333333333333333
+policy_rate_hz: 30.0
+decimation: 2
+sim_dt: 0.016666666666666666
+joint_names:
+- hip_central_rotation
+- waist_upperbody_yaw
+- leg_flexion_l
+- leg_flexion_r
+- leg_abduction_l
+- leg_abduction_r
+- hip_yaw_l
+- hip_yaw_r
+- knee_l
+- knee_r
+- foot_pitch_l
+- foot_pitch_r
+- foot_roll_l
+- foot_roll_r
+joint2motor_idx:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+- 8
+- 9
+- 10
+- 11
+- 12
+- 13
+default_angles:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.13849999010562897
+- 0.13849999010562897
+- 0.0
+- 0.0
+- -0.7999999523162842
+- -0.7999999523162842
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+kps:
+- 150.0
+- 150.0
+- 150.0
+- 150.0
+- 150.0
+- 150.0
+- 150.0
+- 150.0
+- 150.0
+- 150.0
+- 40.0
+- 40.0
+- 40.0
+- 40.0
+kds:
+- 3.0
+- 3.0
+- 3.0
+- 3.0
+- 3.0
+- 3.0
+- 3.0
+- 3.0
+- 3.0
+- 3.0
+- 1.0
+- 1.0
+- 1.0
+- 1.0
+effort_limits:
+- 128.0
+- 128.0
+- 128.0
+- 128.0
+- 128.0
+- 128.0
+- 128.0
+- 128.0
+- 128.0
+- 128.0
+- 40.0
+- 40.0
+- 40.0
+- 40.0
+articulation_joint_names:
+- hip_central_rotation
+- waist_upperbody_yaw
+- leg_flexion_l
+- leg_flexion_r
+- neck_yaw
+- shoulder_flexion_l
+- shoulder_flexion_r
+- leg_abduction_l
+- leg_abduction_r
+- neck_pitch
+- shoulder_abduction_l
+- shoulder_abduction_r
+- hip_yaw_l
+- hip_yaw_r
+- shoulder_rotation_l
+- shoulder_rotation_r
+- knee_l
+- knee_r
+- elbow_flexion_l
+- elbow_flexion_r
+- foot_pitch_l
+- foot_pitch_r
+- wrist_rotation_l
+- wrist_rotation_r
+- foot_roll_l
+- foot_roll_r
+articulation_default_angles:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+pd_per_joint:
+  hip_central_rotation:
+    kp: 150.0
+    kd: 3.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  waist_upperbody_yaw:
+    kp: 150.0
+    kd: 3.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_flexion_l:
+    kp: 150.0
+    kd: 3.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_flexion_r:
+    kp: 150.0
+    kd: 3.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_abduction_l:
+    kp: 150.0
+    kd: 3.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_abduction_r:
+    kp: 150.0
+    kd: 3.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_yaw_l:
+    kp: 150.0
+    kd: 3.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_yaw_r:
+    kp: 150.0
+    kd: 3.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  knee_l:
+    kp: 150.0
+    kd: 3.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  knee_r:
+    kp: 150.0
+    kd: 3.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  shoulder_flexion_l:
+    kp: 100.0
+    kd: 2.0
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_flexion_r:
+    kp: 100.0
+    kd: 2.0
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_abduction_l:
+    kp: 100.0
+    kd: 2.0
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_abduction_r:
+    kp: 100.0
+    kd: 2.0
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  neck_yaw:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  neck_pitch:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  shoulder_rotation_l:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  shoulder_rotation_r:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  elbow_flexion_l:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  elbow_flexion_r:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  wrist_rotation_l:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  wrist_rotation_r:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  foot_pitch_l:
+    kp: 40.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 15.0
+  foot_pitch_r:
+    kp: 40.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 15.0
+  foot_roll_l:
+    kp: 40.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 15.0
+  foot_roll_r:
+    kp: 40.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 15.0
+obs_history_length: 1
+obs_single_frame_dim: 134
+obs_total_dim: 134
+obs_layout:
+- name: current_joint_positions
+  start: 0
+  end: 14
+  base_dim: 14
+  block_dim: 14
+  scale: 1.0
+  params:
+    joint_names: &id001
+    - hip_central_rotation
+    - waist_upperbody_yaw
+    - leg_flexion_l
+    - leg_flexion_r
+    - leg_abduction_l
+    - leg_abduction_r
+    - hip_yaw_l
+    - hip_yaw_r
+    - knee_l
+    - knee_r
+    - foot_pitch_l
+    - foot_pitch_r
+    - foot_roll_l
+    - foot_roll_r
+- name: current_joint_velocities
+  start: 14
+  end: 28
+  base_dim: 14
+  block_dim: 14
+  scale: 1.0
+  params:
+    joint_names: *id001
+- name: current_root_height
+  start: 28
+  end: 29
+  base_dim: 1
+  block_dim: 1
+  scale: 1.0
+  params: {}
+- name: current_root_orientation_tangent_normal
+  start: 29
+  end: 35
+  base_dim: 6
+  block_dim: 6
+  scale: 1.0
+  params: {}
+- name: current_root_linear_velocity_body
+  start: 35
+  end: 38
+  base_dim: 3
+  block_dim: 3
+  scale: 1.0
+  params: {}
+- name: current_root_angular_velocity_body
+  start: 38
+  end: 41
+  base_dim: 3
+  block_dim: 3
+  scale: 1.0
+  params: {}
+- name: current_key_body_positions_body
+  start: 41
+  end: 47
+  base_dim: 6
+  block_dim: 6
+  scale: 1.0
+  params:
+    body_names:
+    - bottom_universal_joint_l_1
+    - bottom_universal_joint_r_1
+- name: future_target_step_1
+  start: 47
+  end: 76
+  base_dim: 29
+  block_dim: 29
+  scale: 1.0
+  params:
+    step: 1
+    fields:
+    - name: root_delta_body
+      dim: 3
+    - name: root_orientation_relative_tangent_normal
+      dim: 6
+    - name: joint_positions
+      dim: 14
+    - name: key_body_positions_root_frame
+      dim: 6
+- name: future_target_step_2
+  start: 76
+  end: 105
+  base_dim: 29
+  block_dim: 29
+  scale: 1.0
+  params:
+    step: 2
+    fields:
+    - name: root_delta_body
+      dim: 3
+    - name: root_orientation_relative_tangent_normal
+      dim: 6
+    - name: joint_positions
+      dim: 14
+    - name: key_body_positions_root_frame
+      dim: 6
+- name: future_target_step_3
+  start: 105
+  end: 134
+  base_dim: 29
+  block_dim: 29
+  scale: 1.0
+  params:
+    step: 3
+    fields:
+    - name: root_delta_body
+      dim: 3
+    - name: root_orientation_relative_tangent_normal
+      dim: 6
+    - name: joint_positions
+      dim: 14
+    - name: key_body_positions_root_frame
+      dim: 6
+command_ranges: null
+reference:
+  dataset_path: bones_canonical_omni_26.npz
+  dataset_sha256: b2a4d210c0b8602c9a0d23b7f526c89b54a681f5953d753c86c224a9832f5b58
+  clips: 26
+  fps: 30
+  target_steps:
+  - 1
+  - 2
+  - 3
+  reference_body: base_link
+  key_bodies:
+  - bottom_universal_joint_l_1
+  - bottom_universal_joint_r_1
+source:
+  checkpoint_sha256: bef957e912c6fef8d9cec9824b1b3269f619b22ea85b4b5beb6275c1d0a13100
+  config_sha256: 2709253aed2ab7055f15765926a9b0a3dda6af7211c3b2a8a4f23197fad88d74
+  run: 2026-07-22_12-51-16_canonical-omni-26-target3
+  evaluation_clip_completion_rate: 0.97
+  evaluation_episodes: 100

deepmimic-direct-no-fld-26clips/policy.onnx

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+oid sha256:0dd923a4b071b5b906ecb6c5014cd4cfd1f8c8206446aae7a3fc0836e790d799
+size 4811493

deepmimic-direct-no-fld-26clips/policy.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c73f5f956217489d8a71d5107f175cd6ecdb12510e57d56af0c4302b7c8dd62c
+size 4820798

deepmimic-direct-no-fld-26clips/resolved.yaml

@@ -0,0 +1,291 @@
+schema_version: 1
+name: deepmimic_canonical_omni_26_target3
+runtime:
+  profile: isaaclab_b4c3210_current27
+  lifecycle: current
+  training_allowed: true
+  docker:
+    repository: 916780037007.dkr.ecr.us-east-1.amazonaws.com/ethroboticsclub/isaaclab
+    digest: sha256:a45d96ca096067a6ffe5a9c3f9281ddd816d2cb635df146ee1882ee3a6d2eebe
+    image_ref: 916780037007.dkr.ecr.us-east-1.amazonaws.com/ethroboticsclub/isaaclab@sha256:a45d96ca096067a6ffe5a9c3f9281ddd816d2cb635df146ee1882ee3a6d2eebe
+  isaaclab_source_commit: b4c321024792976150ca55fddb26fa34480d974e
+  software:
+    isaaclab: 0.54.4
+    isaacsim: 5.1.0.0
+    torch: 2.7.0+cu128
+    skrl: 2.1.0
+    wandb: 0.27.1
+  compatible_hosts:
+    isaaclab_b4c3210_current27_local_gb10:
+      purpose: smoke_test_and_playback
+      isaaclab_source_commit: b4c321024792976150ca55fddb26fa34480d974e
+      software:
+        isaaclab: 0.54.4
+        isaacsim: 5.1.0.0
+        torch: 2.9.0+cu130
+        skrl: 2.1.0
+        wandb: 0.27.1
+  importer:
+    mode: default
+    merge_fixed_joints: true
+    rigid_body_count: 27
+  controlled_joint_order:
+  - hip_central_rotation
+  - waist_upperbody_yaw
+  - leg_flexion_l
+  - leg_flexion_r
+  - leg_abduction_l
+  - leg_abduction_r
+  - hip_yaw_l
+  - hip_yaw_r
+  - knee_l
+  - knee_r
+  - foot_pitch_l
+  - foot_pitch_r
+  - foot_roll_l
+  - foot_roll_r
+robot:
+  name: urdf4_fixed
+  adapter: ethrc_humanoid_v1
+  urdf: URDF_4_description/urdf_axis_fix/URDF_4_axisfix_xfwd.urdf
+  dof_count: 26
+  controlled_dofs: 14
+  reference_body: base_link
+  key_bodies:
+  - bottom_universal_joint_l_1
+  - bottom_universal_joint_r_1
+  freeze_joint_patterns:
+  - shoulder
+  - elbow
+  - wrist
+  - neck
+  action:
+    mode: normalized_soft_limits
+  termination:
+    base_height: 0.5
+    max_tilt_deg: 60.0
+    contact_force_threshold: 1.0
+    contact_bodies:
+    - head_no_mass_1
+    - neck_connector_1
+    - torso_structural_frame_1
+    - shoulder_.*
+    - hej50_arm_rotation_.*
+    - connector_elbow_forearm_.*
+    - forearm_wrist_connector_.*
+dataset:
+  name: bones_canonical_omni_26
+  uri: s3://ethrc-isaac-ckpts/katari/data/bones_canonical_omni_26.npz
+  manifest_uri: s3://ethrc-isaac-ckpts/katari/data/bones_canonical_omni_26.manifest.json
+  paths:
+  - /ckpt/katari/data/bones_canonical_omni_26.npz
+  - /home/katari/datasets/bones_seed/deepmimic/bones_canonical_omni_26.npz
+  - motions/urdf4_fixed/bones_canonical_omni_26.npz
+  frames: 5343
+  fps: 30
+  dofs: 26
+  bodies: 27
+  clips: 26
+  clip_boundaries: true
+  size_bytes: 7966375
+  sha256: b2a4d210c0b8602c9a0d23b7f526c89b54a681f5953d753c86c224a9832f5b58
+tracking:
+  name: mimickit_target3_uniform
+  target_steps:
+  - 1
+  - 2
+  - 3
+  sample_weighting: uniform
+  random_phase_reset: true
+  minimum_remaining_s: 1.0
+  root_height_offset: 0.0
+  observations:
+    current_state: full_body_state_local
+    target_state: root_joint_key_body
+    include_phase: false
+  reward:
+    joint_pose:
+      weight: 0.5
+      scale: 0.25
+    joint_velocity:
+      weight: 0.1
+      scale: 0.01
+    root_pose:
+      weight: 0.15
+      scale: 5.0
+      rotation_scale: 0.1
+    root_velocity:
+      weight: 0.1
+      scale: 1.0
+      angular_scale: 0.1
+    key_body_position:
+      weight: 0.15
+      scale: 10.0
+  termination:
+    pose_distance: 1.0
+  episode_length_s: 10.0
+agent:
+  seed: 42
+  algorithm: PPO
+  models:
+    policy:
+      hidden:
+      - 1024
+      - 1024
+      activation: relu
+      log_std:
+        minimum: -2.996
+        maximum: -2.996
+        initial: -2.996
+        fixed: true
+    value:
+      hidden:
+      - 1024
+      - 1024
+      activation: relu
+  optimization:
+    rollouts: 32
+    learning_epochs: 5
+    mini_batches: 8
+    learning_rate: 0.0001
+    discount_factor: 0.99
+    gae_lambda: 0.95
+    ratio_clip: 0.2
+    value_clip: 0.2
+    value_loss_scale: 1.0
+    grad_norm_clip: 1.0
+  logging:
+    project: deepmimic-humanoid-urdf4
+    write_interval: auto
+    checkpoint_interval: auto
+training:
+  timesteps: 80000
+  num_envs: 4096
+derived:
+  action_dim: 14
+  current_state_dim: 47
+  target_frame_dim: 29
+  policy_observation_dim: 134
+source_files:
+- experiments/canonical_omni_26_target3.yaml
+- runtimes/isaaclab_b4c3210_current27.yaml
+- robots/urdf4_fixed.yaml
+- datasets/bones_canonical_omni_26.yaml
+- tracking/mimickit_target3_uniform.yaml
+- agents/ppo_default.yaml
+composition_sha256: ea21cc004b2a37253403d821c54ef0b8c9a853d2cf7d9d667926387b6f3a44d5
+runtime_resolution:
+  controlled_joints: &id001
+  - hip_central_rotation
+  - waist_upperbody_yaw
+  - leg_flexion_l
+  - leg_flexion_r
+  - leg_abduction_l
+  - leg_abduction_r
+  - hip_yaw_l
+  - hip_yaw_r
+  - knee_l
+  - knee_r
+  - foot_pitch_l
+  - foot_pitch_r
+  - foot_roll_l
+  - foot_roll_r
+  frozen_joints:
+  - neck_yaw
+  - shoulder_flexion_l
+  - shoulder_flexion_r
+  - neck_pitch
+  - shoulder_abduction_l
+  - shoulder_abduction_r
+  - shoulder_rotation_l
+  - shoulder_rotation_r
+  - elbow_flexion_l
+  - elbow_flexion_r
+  - wrist_rotation_l
+  - wrist_rotation_r
+  key_bodies:
+  - bottom_universal_joint_l_1
+  - bottom_universal_joint_r_1
+  motion_file: /ckpt/katari/data/bones_canonical_omni_26.npz
+  motion_clips: 26
+  target_steps:
+  - 1
+  - 2
+  - 3
+  action_offset:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.13849999010562897
+  - 0.13849999010562897
+  - 0.0
+  - 0.0
+  - -0.7999999523162842
+  - -0.7999999523162842
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  action_scale:
+  - 0.3149999976158142
+  - 1.4137163162231445
+  - 1.3499999046325684
+  - 1.3499999046325684
+  - 0.23534999787807465
+  - 0.23534999787807465
+  - 0.44999995827674866
+  - 0.44999995827674866
+  - 0.7199999094009399
+  - 0.7199999094009399
+  - 0.35999995470046997
+  - 0.35999995470046997
+  - 0.35999995470046997
+  - 0.35999995470046997
+  soft_joint_limits:
+  - - -0.3149999976158142
+    - 0.3149999976158142
+  - - -1.4137163162231445
+    - 1.4137163162231445
+  - - -1.3499999046325684
+    - 1.3499999046325684
+  - - -1.3499999046325684
+    - 1.3499999046325684
+  - - -0.09685000777244568
+    - 0.3738499879837036
+  - - -0.09685000777244568
+    - 0.3738499879837036
+  - - -0.44999995827674866
+    - 0.44999995827674866
+  - - -0.44999995827674866
+    - 0.44999995827674866
+  - - -1.5199998617172241
+    - -0.08000004291534424
+  - - -1.5199998617172241
+    - -0.08000004291534424
+  - - -0.35999995470046997
+    - 0.35999995470046997
+  - - -0.35999995470046997
+    - 0.35999995470046997
+  - - -0.35999995470046997
+    - 0.35999995470046997
+  - - -0.35999995470046997
+    - 0.35999995470046997
+  host:
+    profile: isaaclab_b4c3210_current27
+    configuration_profile: isaaclab_b4c3210_current27
+    docker_image_digest: sha256:a45d96ca096067a6ffe5a9c3f9281ddd816d2cb635df146ee1882ee3a6d2eebe
+    isaaclab_source_commit: null
+    software:
+      isaaclab: 0.54.4
+      isaacsim: 5.1.0.0
+      skrl: 2.1.0
+      torch: 2.7.0+cu128
+      wandb: 0.27.1
+    verification: host_verified
+    purpose: training_and_playback
+  simulation:
+    rigid_body_count: 27
+    controlled_joint_order: *id001
+    verification: simulation_verified
+config_sha256: 2709253aed2ab7055f15765926a9b0a3dda6af7211c3b2a8a4f23197fad88d74

deepmimic-direct-no-fld-26clips/training_checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:bef957e912c6fef8d9cec9824b1b3269f619b22ea85b4b5beb6275c1d0a13100
+size 28712114