{ "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": [ [ 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0 ], [ 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0 ], [ 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0 ], [ 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0 ], [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 ], [ 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 ], [ 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 ] ], "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 }