Add sim_teleop and sim_eval presets from gs-core main (4e2bb758bb) on genesis-world 1.4.2

.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.avro filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

sim_eval.json

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+{
+  "schema_version": 1,
+  "genesis_world_version": "1.4.2",
+  "sim_options": {
+    "dt": 0.01,
+    "substeps": 10,
+    "gravity": [
+      0.0,
+      0.0,
+      -9.8
+    ]
+  },
+  "rigid_options": {
+    "integrator": "approximate_implicitfast",
+    "constraint_solver": "Newton",
+    "friction_cone": "elliptic",
+    "contact_resolution": "convex",
+    "impratio": null,
+    "iterations": 100,
+    "tolerance": 1e-05,
+    "ls_iterations": 50,
+    "ls_tolerance": 0.01,
+    "sparse_solve": false,
+    "noslip_iterations": 0,
+    "noslip_tolerance": 1e-06,
+    "constraint_timeconst": 0.01,
+    "contact_pruning_tolerance": 0.02,
+    "use_hibernation": false,
+    "hibernation_thresh_vel": 0.001,
+    "enable_collision": true,
+    "enable_joint_limit": true,
+    "enable_self_collision": false,
+    "enable_adjacent_collision": false,
+    "enable_neutral_collision": false,
+    "enable_multi_contact": true,
+    "enable_mujoco_compatibility": false,
+    "enable_torsional_friction": false,
+    "enable_rolling_friction": false,
+    "box_box_detection": true,
+    "use_gjk_collision": false
+  },
+  "material": {
+    "rho": 200.0,
+    "friction": 1.0
+  }
+}

sim_teleop.json

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+{
+  "schema_version": 1,
+  "genesis_world_version": "1.4.2",
+  "sim_options": {
+    "dt": 0.016666666666666666,
+    "substeps": 5,
+    "gravity": [
+      0.0,
+      0.0,
+      -9.8
+    ]
+  },
+  "rigid_options": {
+    "integrator": "approximate_implicitfast",
+    "constraint_solver": "Newton",
+    "friction_cone": "elliptic",
+    "contact_resolution": "convex",
+    "impratio": null,
+    "iterations": 100,
+    "tolerance": 1e-05,
+    "ls_iterations": 50,
+    "ls_tolerance": 0.01,
+    "sparse_solve": false,
+    "noslip_iterations": 0,
+    "noslip_tolerance": 1e-06,
+    "constraint_timeconst": 0.01,
+    "contact_pruning_tolerance": 0.02,
+    "use_hibernation": false,
+    "hibernation_thresh_vel": 0.001,
+    "enable_collision": true,
+    "enable_joint_limit": true,
+    "enable_self_collision": false,
+    "enable_adjacent_collision": false,
+    "enable_neutral_collision": false,
+    "enable_multi_contact": true,
+    "enable_mujoco_compatibility": false,
+    "enable_torsional_friction": false,
+    "enable_rolling_friction": false,
+    "box_box_detection": true,
+    "use_gjk_collision": false
+  },
+  "material": {
+    "rho": 200.0,
+    "friction": 1.0
+  }
+}