| |
| |
| |
|
|
| observations: |
|
|
| - name: "token_state" |
| enabled: true |
|
|
| - name: "his_base_angular_velocity_10frame_step1" |
| enabled: true |
| |
| - name: "his_body_joint_positions_10frame_step1" |
| enabled: true |
| |
| - name: "his_body_joint_velocities_10frame_step1" |
| enabled: true |
| |
| - name: "his_last_actions_10frame_step1" |
| enabled: true |
|
|
| - name: "his_gravity_dir_10frame_step1" |
| enabled: true |
|
|
| encoder: |
| dimension: 64 |
| use_fp16: false |
| encoder_observations: |
| - name: "encoder_mode_4" |
| enabled: true |
| - name: "motion_joint_positions_10frame_step5" |
| enabled: true |
| - name: "motion_joint_velocities_10frame_step5" |
| enabled: true |
| - name: "motion_root_z_position_10frame_step5" |
| enabled: true |
| - name: "motion_root_z_position" |
| enabled: true |
| - name: "motion_anchor_orientation" |
| enabled: true |
| - name: "motion_anchor_orientation_10frame_step5" |
| enabled: true |
| - name: "motion_joint_positions_lowerbody_10frame_step5" |
| enabled: true |
| - name: "motion_joint_velocities_lowerbody_10frame_step5" |
| enabled: true |
| - name: "vr_3point_local_target" |
| enabled: true |
| - name: "vr_3point_local_orn_target" |
| enabled: true |
| - name: "smpl_joints_10frame_step1" |
| enabled: true |
| - name: "smpl_anchor_orientation_10frame_step1" |
| enabled: true |
| - name: "motion_joint_positions_wrists_10frame_step1" |
| enabled: true |
| encoder_modes: |
| - name: "g1" |
| mode_id: 0 |
| required_observations: |
| - encoder_mode_4 |
| - motion_joint_positions_10frame_step5 |
| - motion_joint_velocities_10frame_step5 |
| - motion_anchor_orientation_10frame_step5 |
| - name: "teleop" |
| mode_id: 1 |
| required_observations: |
| - encoder_mode_4 |
| - motion_joint_positions_lowerbody_10frame_step5 |
| - motion_joint_velocities_lowerbody_10frame_step5 |
| - vr_3point_local_target |
| - vr_3point_local_orn_target |
| - motion_anchor_orientation |
| - name: "smpl" |
| mode_id: 2 |
| required_observations: |
| - encoder_mode_4 |
| - smpl_joints_10frame_step1 |
| - smpl_anchor_orientation_10frame_step1 |
| - motion_joint_positions_wrists_10frame_step1 |
|
|
