feat: add 30s dance (dance1_subject2) longer-horizon DeepMimic PPO ckpt

dance_30s/env.yaml

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+env_name: "deepmimic"
+
+char_file: "data/assets/g1/g1.xml"
+camera_mode: "track"
+
+episode_length: 10.0 # seconds
+global_obs: True
+root_height_obs: True
+pose_termination: True
+pose_termination_dist: 1.0 # m
+enable_phase_obs: False
+enable_tar_obs: True
+num_phase_encoding: 4
+tar_obs_steps: [1, 2, 3]
+rand_reset: True
+zero_center_action: True
+log_tracking_error: False
+
+ref_char_offset: [2.0, 0.0, 0.0] # m
+init_pose: [0, 0, 0.8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.57, 0, 0, 0, 0, 0, 0, 1.57, 0, 0, 0]
+
+enable_early_termination: True
+key_bodies: ["left_ankle_roll_link", "right_ankle_roll_link", "head_link", "left_wrist_yaw_link", "right_wrist_yaw_link"]
+contact_bodies: ["left_knee_link", "left_ankle_pitch_link", "left_ankle_roll_link", "right_knee_link", "right_ankle_pitch_link", "right_ankle_roll_link"]
+#contact_bodies: ["left_knee_link", "left_ankle_pitch_link", "left_ankle_roll_link", "right_knee_link", "right_ankle_pitch_link", "right_ankle_roll_link", "left_elbow_link", "left_wrist_roll_link", "left_wrist_pitch_link", "left_wrist_yaw_link", "right_elbow_link", "right_wrist_roll_link", "right_wrist_pitch_link", "right_wrist_yaw_link"] # cartwheel
+
+motion_file: "data/motions/g1/lafan_dance_30s.pkl"
+
+joint_err_w: [1.0, 1.0, 1.0, 0.6, 0.5, 0.5, 1.0, 1.0, 1.0, 0.6, 0.5, 0.5, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 0.6, 0.5, 0.5, 0.5, 1.0, 1.0, 1.0, 0.6, 0.5, 0.5, 0.5]
+ 
+reward_pose_w: 0.5
+reward_vel_w: 0.1
+reward_root_pose_w: 0.15
+reward_root_vel_w: 0.1
+reward_key_pos_w: 0.15
+
+reward_pose_scale: 0.25
+reward_vel_scale: 0.01
+reward_root_pose_scale: 5.0
+reward_root_vel_scale: 1.0
+reward_key_pos_scale: 10.0

dance_30s/model.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:91c8d558bb7c5a0e8c8d1b020a60ed6c03563688ad432b867c37ec0e6946240a
+size 11236728

dance_30s/motion.pkl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f16b730b442703af5ff85f094e937152b37f90cea9c83858c593888bfe3a84f5
+size 287187