Add reproducible observation/action/metadata stream#153
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Publish the exact policy inputs and outputs so an inference step can be replayed offline from a recording alone. BasePolicy gains a get_observation_terms() schema (term -> slice map, mirroring the observation concat order) and a per-inference telemetry hook; the service node uses these to publish /holosoma/observation (raw obs vector) and /holosoma/action (raw pre-scale policy output) at control rate, plus a latched /holosoma/policy_metadata carrying the schema, action scale, default joint angles, and joint names. Each sample is tagged with the model's run id (resolved from the launch path or the identifier stamped into the ONNX metadata at export), and the metadata is re-published on policy swaps so every sample keys to the schema that describes it. The legacy executed-command topic is marked deprecated in favor of /holosoma/action. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Note that /holosoma/dense_tracking_command is produced by either a client or the retargeter, and that the dense target is already embedded tick-exact in /holosoma/observation so it need not be recorded separately for policy replay. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Add a source_stamp field to Observation.msg and Action.msg carrying the teleop-input stamp of the CmdDense frame each tick consumed, so recorded obs/action can be matched back to the source teleop log while header.stamp stays robot time (used to align with other robot-time streams). The service node stashes the consumed frame's stamp in _dense_cb and emits it on both messages; the retargeter now forwards the source stamp onto CmdDense instead of overwriting it with production time, so matching works on both the dense client and SMPL-H input paths. Under hold-last-frame the same source_stamp repeats, which reflects what the policy actually consumed. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Publishes the exact policy inputs and outputs so an inference step can be replayed offline from a recording alone.
API change
New/changed Outputs (
holosoma_serviceREADME):/holosoma/observationObservation.msgactor_obs) fed to the policy this tick; sliceable by name via the schema on/holosoma/policy_metadata.header.stampis robot time;source_stampcarries the teleop-input stamp of the consumedCmdDense. Tagged withwandb_id./holosoma/actionAction.msgheader.stamp+source_stampwith the paired/holosoma/observation. Tagged withwandb_id./holosoma/policy_metadataPolicyMetadata.msgpolicy_action_scale,default_dof_angles,dof_names,wandb_id. Latched (transient-local), published once per policy activation./holosoma/holosoma_executed_cmdJointState.msg/holosoma/action.