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80 lines
2.3 KiB
80 lines
2.3 KiB
# G1 Deploy - Observation Configuration
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# ====================================
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# Total dimension: 436 (64+12+116+116+116+12)
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observations:
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- name: "token_state"
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enabled: true
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- name: "his_base_angular_velocity_10frame_step1"
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enabled: true
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- name: "his_body_joint_positions_10frame_step1"
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enabled: true
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- name: "his_body_joint_velocities_10frame_step1"
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enabled: true
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- name: "his_last_actions_10frame_step1"
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enabled: true
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- name: "his_gravity_dir_10frame_step1"
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enabled: true
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encoder:
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dimension: 64
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use_fp16: false
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encoder_observations:
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- name: "encoder_mode_4"
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enabled: true
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- name: "motion_joint_positions_10frame_step5"
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enabled: true
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- name: "motion_joint_velocities_10frame_step5"
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enabled: true
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- name: "motion_root_z_position_10frame_step5"
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enabled: true
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- name: "motion_root_z_position"
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enabled: true
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- name: "motion_anchor_orientation"
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enabled: true
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- name: "motion_anchor_orientation_10frame_step5"
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enabled: true
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- name: "motion_joint_positions_lowerbody_10frame_step5"
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enabled: true
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- name: "motion_joint_velocities_lowerbody_10frame_step5"
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enabled: true
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- name: "vr_3point_local_target"
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enabled: true
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- name: "vr_3point_local_orn_target"
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enabled: true
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- name: "smpl_joints_10frame_step1"
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enabled: true
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- name: "smpl_anchor_orientation_10frame_step1"
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enabled: true
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- name: "motion_joint_positions_wrists_10frame_step1"
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enabled: true
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encoder_modes:
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- name: "g1"
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mode_id: 0
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required_observations:
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- encoder_mode_4
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- motion_joint_positions_10frame_step5
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- motion_joint_velocities_10frame_step5
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- motion_anchor_orientation_10frame_step5
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- name: "teleop"
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mode_id: 1
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required_observations:
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- encoder_mode_4
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- motion_joint_positions_lowerbody_10frame_step5
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- motion_joint_velocities_lowerbody_10frame_step5
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- vr_3point_local_target
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- vr_3point_local_orn_target
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- motion_anchor_orientation
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- name: "smpl"
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mode_id: 2
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required_observations:
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- encoder_mode_4
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- smpl_joints_10frame_step1
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- smpl_anchor_orientation_10frame_step1
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- motion_joint_positions_wrists_10frame_step1
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