record.json

{
 "task": "Isaac-Velocity-Rough-G1",
 "checkpoint": "runs/c1_g1_rough_physx/logs/rsl_rl/g1_rough/2026-09-29_04-08-33_isaaclab-20260929-040828-b56afb4da6e9/model_1499.pt",
 "episodes_requested": 12,
 "frames": 500,
 "overrides": [
  "physics=isaacsim_physx"
 ],
 "cam": "chase",
 "cam_name": "chase",
 "res": [
  320,
  240
 ],
 "play_mode": true,
 "seed": 7,
 "cmd": "/home/ubuntu/strands-robots-isaac-test/isaaclab-research/.venv/bin/python examples/record_trained_policy.py --task Isaac-Velocity-Rough-G1 --checkpoint runs/c1_g1_rough_physx/logs/rsl_rl/g1_rough/2026-09-29_04-08-33_isaaclab-20260929-040828-b56afb4da6e9/model_1499.pt --episodes 12 --frames 500 --cam chase --override physics=isaacsim_physx --task_str walk over rough terrain following the commanded base velocity --robot_type unitree_g1 --root rec/g1-rough/ds --repo_id cagataydev/strands-isaaclab-g1-rough",
 "actor_obs_groups": [
  "policy"
 ],
 "joint_names": [
  "left_hip_pitch_joint",
  "right_hip_pitch_joint",
  "torso_joint",
  "left_hip_roll_joint",
  "right_hip_roll_joint",
  "left_shoulder_pitch_joint",
  "right_shoulder_pitch_joint",
  "left_hip_yaw_joint",
  "right_hip_yaw_joint",
  "left_shoulder_roll_joint",
  "right_shoulder_roll_joint",
  "left_knee_joint",
  "right_knee_joint",
  "left_shoulder_yaw_joint",
  "right_shoulder_yaw_joint",
  "left_ankle_pitch_joint",
  "right_ankle_pitch_joint",
  "left_elbow_pitch_joint",
  "right_elbow_pitch_joint",
  "left_ankle_roll_joint",
  "right_ankle_roll_joint",
  "left_elbow_roll_joint",
  "right_elbow_roll_joint",
  "left_five_joint",
  "left_three_joint",
  "left_zero_joint",
  "right_five_joint",
  "right_three_joint",
  "right_zero_joint",
  "left_six_joint",
  "left_four_joint",
  "left_one_joint",
  "right_six_joint",
  "right_four_joint",
  "right_one_joint",
  "left_two_joint",
  "right_two_joint"
 ],
 "action_names": [
  "joint_pos.left_hip_pitch_joint",
  "joint_pos.right_hip_pitch_joint",
  "joint_pos.torso_joint",
  "joint_pos.left_hip_roll_joint",
  "joint_pos.right_hip_roll_joint",
  "joint_pos.left_shoulder_pitch_joint",
  "joint_pos.right_shoulder_pitch_joint",
  "joint_pos.left_hip_yaw_joint",
  "joint_pos.right_hip_yaw_joint",
  "joint_pos.left_shoulder_roll_joint",
  "joint_pos.right_shoulder_roll_joint",
  "joint_pos.left_knee_joint",
  "joint_pos.right_knee_joint",
  "joint_pos.left_shoulder_yaw_joint",
  "joint_pos.right_shoulder_yaw_joint",
  "joint_pos.left_ankle_pitch_joint",
  "joint_pos.right_ankle_pitch_joint",
  "joint_pos.left_elbow_pitch_joint",
  "joint_pos.right_elbow_pitch_joint",
  "joint_pos.left_ankle_roll_joint",
  "joint_pos.right_ankle_roll_joint",
  "joint_pos.left_elbow_roll_joint",
  "joint_pos.right_elbow_roll_joint",
  "joint_pos.left_five_joint",
  "joint_pos.left_three_joint",
  "joint_pos.left_zero_joint",
  "joint_pos.right_five_joint",
  "joint_pos.right_three_joint",
  "joint_pos.right_zero_joint",
  "joint_pos.left_six_joint",
  "joint_pos.left_four_joint",
  "joint_pos.left_one_joint",
  "joint_pos.right_six_joint",
  "joint_pos.right_four_joint",
  "joint_pos.right_one_joint",
  "joint_pos.left_two_joint",
  "joint_pos.right_two_joint"
 ],
 "action_dim": 37,
 "fps": 50,
 "step_dt": 0.02,
 "env_build_s": 15.3,
 "policy_obs_dim": 310,
 "jit_vs_rslrl_max_abs": 4.76837158203125e-07,
 "debug": [
  {
   "f": 0,
   "cam_pos_w0": [
    -8.184968948364258,
    -18.778873443603516,
    0.6072597503662109
   ],
   "root_pos_w0": [
    -7.736516952514648,
    -16.171875,
    0.039183735847473145
   ]
  },
  {
   "f": 1,
   "cam_pos_w0": [
    -8.184968948364258,
    -18.778873443603516,
    0.6072597503662109
   ],
   "root_pos_w0": [
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    -16.17579460144043,
    0.042795781046152115
   ]
  },
  {
   "f": 10,
   "cam_pos_w0": [
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    -18.778873443603516,
    0.6072597503662109
   ],
   "root_pos_w0": [
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    -16.210617065429688,
    -0.0008312761783599854
   ]
  }
 ],
 "policy_ms_per_step_all_envs": 4.83,
 "env_ms_per_step": 27.63,
 "playback_envs": [
  0,
  1,
  2,
  3
 ],
 "cam_mean": 179.01184027777776,
 "record_s": 32.9,
 "episodes_saved": 12,
 "kept_envs": [
  0,
  1,
  2,
  3,
  4,
  5,
  6,
  7,
  8,
  9,
  10,
  11
 ],
 "episode_len": [
  500,
  500,
  500,
  500,
  500,
  500,
  500,
  500,
  500,
  500,
  500,
  500
 ],
 "episode_return": [
  23.342,
  23.206,
  25.391,
  21.502,
  23.993,
  24.544,
  20.105,
  23.345,
  17.664,
  23.895,
  24.471,
  22.742
 ],
 "episode_end": [
  "frames",
  "frames",
  "frames",
  "frames",
  "frames",
  "frames",
  "frames",
  "frames",
  "frames",
  "frames",
  "frames",
  "frames"
 ],
 "mean_return": 22.85,
 "total_frames": 6000,
 "total_wall_s": 80.9
}