HoloMotion_motion_tracking_model_v2.0.0/link_command_modes.json

{
  "mode_names": [
    "Pelvis-1",
    "UMI-2",
    "Keypoint-3",
    "UMI-4",
    "Keypoint-5",
    "UpperBody-6",
    "UpperBody-Mobile-7",
    "WholeBody-14"
  ],
  "link_names": [
    "pelvis",
    "left_hip_roll_link",
    "left_knee_link",
    "left_ankle_roll_link",
    "right_hip_roll_link",
    "right_knee_link",
    "right_ankle_roll_link",
    "torso_link",
    "left_shoulder_roll_link",
    "left_elbow_link",
    "left_wrist_yaw_link",
    "right_shoulder_roll_link",
    "right_elbow_link",
    "right_wrist_yaw_link"
  ],
  "mode_table": [
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    [
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    [
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    [
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    ],
    [
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    [
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    ]
  ],
  "probabilities": [
    0.125,
    0.125,
    0.125,
    0.125,
    0.125,
    0.125,
    0.125,
    0.125
  ],
  "sampling": "uniform_mode",
  "mode_counts": [
    998,
    1022,
    1026,
    1030,
    1052,
    1020,
    996,
    1048
  ],
  "custom_count": 0,
  "num_envs": 8192,
  "resample_calls": 1,
  "process_id": 0,
  "actor_features_masked": true,
  "critic_targets_and_rewards": "complete_clean_reference",
  "resample_on": "existing_command_reset_and_motion_reassignment",
  "future_frames_share_mode": true,
  "frame_offsets": [
    1,
    2,
    3,
    4,
    5
  ],
  "actor_frame_offsets": [
    1,
    2,
    3,
    4,
    5
  ],
  "critic_frame_offsets": [
    1,
    2,
    3,
    4,
    5
  ],
  "legacy_subset_sampler_replaced": true
}