# ===================================================================
# G1 Deploy - Observation Configuration Example
# ===================================================================
# This file demonstrates the complete observation configuration format
# This example matches the default configuration exactly
#
# Instructions:
# 1. Copy this file to create your custom configuration
# 2. Modify enabled: true/false to enable/disable observations
# 3. Reorder observations by changing their position in the list
# 4. The system automatically calculates offsets based on order
# 5. Ensure total enabled dimensions match your ONNX model input
# ===================================================================

# Observation definitions - processed in the order listed below
observations:
  # ---------------------------------------------------------------
  # Motion Reference Data (from loaded motion sequences)
  # ---------------------------------------------------------------
  
  - name: "motion_joint_positions"
    enabled: true
    # Description: Joint positions from motion reference data
    # Dimension: 29 elements (one per joint)
    # Units: radians
    # Purpose: Provides target joint positions for the current motion frame
    
  - name: "motion_joint_velocities"
    enabled: true
    # Description: Joint velocities from motion reference data
    # Dimension: 29 elements (one per joint)
    # Units: radians/second
    # Purpose: Provides target joint velocities for the current motion frame
    # Note: Only active when motion is playing (is_playing_ = true)
    
  - name: "motion_anchor_orientation"
    enabled: true
    # Description: Motion anchor orientation relative to robot base
    # Dimension: 6 elements (rotation matrix first 2 columns flattened)
    # Units: dimensionless (rotation matrix elements)
    # Purpose: Encodes relative orientation between robot and motion reference
    # Calculation: Includes heading compensation and delta heading adjustments
    
  # ---------------------------------------------------------------
  # Robot State Data (from sensors and estimation)
  # ---------------------------------------------------------------
  
  - name: "base_angular_velocity"
    enabled: true
    # Description: Robot base angular velocity in body frame
    # Dimension: 3 elements (roll, pitch, yaw rates)
    # Units: radians/second
    # Source: IMU sensor data
    # Purpose: Provides current rotational motion of the robot base
    
  - name: "body_joint_positions"
    enabled: true
    # Description: Current robot joint positions
    # Dimension: 29 elements (one per joint)
    # Units: radians
    # Source: Joint encoders via robot low-level state
    # Purpose: Current actual joint positions for feedback control
    
  - name: "body_joint_velocities"
    enabled: true
    # Description: Current robot joint velocities
    # Dimension: 29 elements (one per joint)
    # Units: radians/second
    # Source: Joint encoders via robot low-level state
    # Purpose: Current actual joint velocities for feedback control
    
  # ---------------------------------------------------------------
  # Control History
  # ---------------------------------------------------------------
  
  - name: "last_actions"
    enabled: true
    # Description: Previous control action output
    # Dimension: 29 elements (one per joint)
    # Units: dimensionless (normalized action values)
    # Purpose: Provides action history for temporal consistency
    # Note: Helps with smooth control transitions

# ===================================================================
# Configuration Summary
# ===================================================================
# 
# Default Configuration Totals:
#   - motion_joint_positions:    29D (enabled)  [offset: 0]
#   - motion_joint_velocities:   29D (enabled)  [offset: 29]
#   - motion_anchor_orientation:  6D (enabled)  [offset: 58]
#   - base_angular_velocity:      3D (enabled)  [offset: 64]
#   - body_joint_positions:      29D (enabled)  [offset: 67]
#   - body_joint_velocities:     29D (enabled)  [offset: 96]
#   - last_actions:              29D (enabled)  [offset: 125]
#   ----------------------------------------------------------------
#   Total Enabled Dimension:    154D
#
# This matches the standard G1 policy model input dimension of 154
#
# ===================================================================
# Customization Examples
# ===================================================================
#
# Example 1: Disable motion velocities (for position-only policies)
# - name: "motion_joint_velocities"
#   enabled: false
#
# Example 2: Disable last actions (for non-temporal policies)
# - name: "last_actions"
#   enabled: false
#
# Example 3: Minimal configuration (position-only)
# observations:
#   - name: "motion_joint_positions"
#     enabled: true
#   - name: "body_joint_positions"
#     enabled: true
#   # Total: 58D (29+29)
#
# Example 4: Reorder observations (offsets calculated automatically)
# observations:
#   - name: "body_joint_positions"     # Will get offset: 0
#     enabled: true
#   - name: "motion_joint_positions"   # Will get offset: 29
#     enabled: true
#   # Automatic offset calculation based on order
#
# Example 5: Multi-frame observations with step intervals (for temporal dynamics)
# observations:
#   - name: "motion_joint_positions_5frame_step5"    # 145D (29 joints * 5 frames, step=5)
#     enabled: true
#   - name: "motion_joint_velocities_5frame_step5"   # 145D (29 joints * 5 frames, step=5)  
#     enabled: true
#   - name: "base_angular_velocity"                  # 3D (current frame only)
#     enabled: true
#   # Total: 293D (145+145+3)
#   # Captures frames at: current, current+5, current+10, current+15, current+20
#
# Example 6: Multi-frame with different step sizes
# observations:
#   - name: "motion_joint_positions_5frame_step10"   # 145D (step=10 for longer intervals)
#     enabled: true
#   # Captures frames at: current, current+10, current+20, current+30, current+40
#
# Note: Multi-frame observations capture temporal patterns by sampling
#       future frames at configurable intervals (step sizes)
#       If future frames exceed motion length, repeats the last frame
#
# ===================================================================