| project_name: RobotMDAR |
| expname: dar_23dof_telemotion_full_50fps_rollout_fullsample_NP4 |
| task: train-dar |
| seed: 0 |
| device: cuda |
| timestamp: '20251113_095739' |
| base_dir: /home/zhengjk/PyProject/tele_MDAR/RobotMDAR/logs |
| experiment_dir: /home/zhengjk/PyProject/tele_MDAR/RobotMDAR/logs/RobotMDAR/dar_23dof_telemotion_full_50fps_rollout_fullsample_NP4/train-dar-20251113_095739 |
| nfeats: 57 |
| foot_dof_indices: |
| left_foot: 5 |
| right_foot: 11 |
| ckpt: |
| vae: logs/RobotMDAR/vae_23dof_telemotion_amassFull_50fps_rollout_15w_NP4/train-mvae-20251113_010653/ckpt_140000.pth |
| dar: null |
| load_cfg: null |
| data: |
| skeleton: |
| motion_lib_type: origin |
| asset: |
| assetRoot: /home/zhengjk/PyProject/PBHC-Internal/description/robots/g1/ |
| assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml |
| humanoid_type: g1_23dof_lock_wrist |
| bias_offset: false |
| has_self_collision: true |
| has_mesh: false |
| has_jt_limit: false |
| has_dof_subset: true |
| has_upright_start: true |
| has_smpl_pd_offset: false |
| remove_toe: false |
| motion_sym_loss: false |
| sym_loss_coef: 1 |
| big_ankle: true |
| has_shape_obs: false |
| has_shape_obs_disc: false |
| has_shape_variation: false |
| masterfoot: false |
| freeze_toe: false |
| freeze_hand: false |
| box_body: true |
| real_weight: true |
| real_weight_porpotion_capsules: true |
| real_weight_porpotion_boxes: true |
| body_names: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| limb_weight_group: |
| - - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - - pelvis |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| dof_names: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| foot_names: |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| nums_extend_bodies: 3 |
| extend_config: |
| - joint_name: left_hand_link |
| parent_name: left_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: right_hand_link |
| parent_name: right_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: head_link |
| parent_name: torso_link |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.42 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| motion_tracking_link: |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| lower_body_link: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| upper_body_link: |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| pelvis_link: pelvis |
| base_link: torso_link |
| hips_link: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| joint_matches: |
| - - pelvis |
| - Pelvis |
| - - left_hip_pitch_link |
| - L_Hip |
| - - left_knee_link |
| - L_Knee |
| - - left_ankle_roll_link |
| - L_Ankle |
| - - right_hip_pitch_link |
| - R_Hip |
| - - right_knee_link |
| - R_Knee |
| - - right_ankle_roll_link |
| - R_Ankle |
| - - left_shoulder_roll_link |
| - L_Shoulder |
| - - left_elbow_link |
| - L_Elbow |
| - - left_hand_link |
| - L_Hand |
| - - right_shoulder_roll_link |
| - R_Shoulder |
| - - right_elbow_link |
| - R_Elbow |
| - - right_hand_link |
| - R_Hand |
| - - head_link |
| - Head |
| smpl_pose_modifier: |
| - Pelvis: '[np.pi/2, 0, np.pi/2]' |
| - L_Shoulder: '[0, 0, -np.pi/2]' |
| - R_Shoulder: '[0, 0, np.pi/2]' |
| - L_Elbow: '[0, -np.pi/2, 0]' |
| - R_Elbow: '[0, np.pi/2, 0]' |
| visualization: |
| customize_color: true |
| marker_joint_colors: |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| nfeats: 57 |
| history_len: 2 |
| future_len: 8 |
| num_primitive: 4 |
| batch_size: 512 |
| weighted_sample: true |
| frame_weight: false |
| use_weighted_meanstd: false |
| action_statistics_path: dataset/action_statistics_telemotion_amassFULL_norm.json |
| datadir: ./dataset/BABEL-TeleMotion-ROBOT-23dof-Full-1ANN-FULL-Merged-50fps |
| common: |
| _target_: robotmdar.dataloader.data.SkeletonPrimitiveDataset |
| datadir: ./dataset/BABEL-TeleMotion-ROBOT-23dof-Full-1ANN-FULL-Merged-50fps |
| action_statistics_path: dataset/action_statistics_telemotion_amassFULL_norm.json |
| robot_cfg: |
| motion_lib_type: origin |
| asset: |
| assetRoot: /home/zhengjk/PyProject/PBHC-Internal/description/robots/g1/ |
| assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml |
| humanoid_type: g1_23dof_lock_wrist |
| bias_offset: false |
| has_self_collision: true |
| has_mesh: false |
| has_jt_limit: false |
| has_dof_subset: true |
| has_upright_start: true |
| has_smpl_pd_offset: false |
| remove_toe: false |
| motion_sym_loss: false |
| sym_loss_coef: 1 |
| big_ankle: true |
| has_shape_obs: false |
| has_shape_obs_disc: false |
| has_shape_variation: false |
| masterfoot: false |
| freeze_toe: false |
| freeze_hand: false |
| box_body: true |
| real_weight: true |
| real_weight_porpotion_capsules: true |
| real_weight_porpotion_boxes: true |
| body_names: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| limb_weight_group: |
| - - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - - pelvis |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| dof_names: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| foot_names: |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| nums_extend_bodies: 3 |
| extend_config: |
| - joint_name: left_hand_link |
| parent_name: left_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: right_hand_link |
| parent_name: right_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: head_link |
| parent_name: torso_link |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.42 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| motion_tracking_link: |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| lower_body_link: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| upper_body_link: |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| pelvis_link: pelvis |
| base_link: torso_link |
| hips_link: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| joint_matches: |
| - - pelvis |
| - Pelvis |
| - - left_hip_pitch_link |
| - L_Hip |
| - - left_knee_link |
| - L_Knee |
| - - left_ankle_roll_link |
| - L_Ankle |
| - - right_hip_pitch_link |
| - R_Hip |
| - - right_knee_link |
| - R_Knee |
| - - right_ankle_roll_link |
| - R_Ankle |
| - - left_shoulder_roll_link |
| - L_Shoulder |
| - - left_elbow_link |
| - L_Elbow |
| - - left_hand_link |
| - L_Hand |
| - - right_shoulder_roll_link |
| - R_Shoulder |
| - - right_elbow_link |
| - R_Elbow |
| - - right_hand_link |
| - R_Hand |
| - - head_link |
| - Head |
| smpl_pose_modifier: |
| - Pelvis: '[np.pi/2, 0, np.pi/2]' |
| - L_Shoulder: '[0, 0, -np.pi/2]' |
| - R_Shoulder: '[0, 0, np.pi/2]' |
| - L_Elbow: '[0, -np.pi/2, 0]' |
| - R_Elbow: '[0, np.pi/2, 0]' |
| visualization: |
| customize_color: true |
| marker_joint_colors: |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| device: cuda |
| nfeats: 57 |
| history_len: 2 |
| future_len: 8 |
| num_primitive: 4 |
| batch_size: 512 |
| weighted_sample: true |
| frame_weight: false |
| use_weighted_meanstd: false |
| train: |
| _target_: robotmdar.dataloader.data.SkeletonPrimitiveDataset |
| datadir: ./dataset/BABEL-TeleMotion-ROBOT-23dof-Full-1ANN-FULL-Merged-50fps |
| action_statistics_path: dataset/action_statistics_telemotion_amassFULL_norm.json |
| robot_cfg: |
| motion_lib_type: origin |
| asset: |
| assetRoot: /home/zhengjk/PyProject/PBHC-Internal/description/robots/g1/ |
| assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml |
| humanoid_type: g1_23dof_lock_wrist |
| bias_offset: false |
| has_self_collision: true |
| has_mesh: false |
| has_jt_limit: false |
| has_dof_subset: true |
| has_upright_start: true |
| has_smpl_pd_offset: false |
| remove_toe: false |
| motion_sym_loss: false |
| sym_loss_coef: 1 |
| big_ankle: true |
| has_shape_obs: false |
| has_shape_obs_disc: false |
| has_shape_variation: false |
| masterfoot: false |
| freeze_toe: false |
| freeze_hand: false |
| box_body: true |
| real_weight: true |
| real_weight_porpotion_capsules: true |
| real_weight_porpotion_boxes: true |
| body_names: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| limb_weight_group: |
| - - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - - pelvis |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| dof_names: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| foot_names: |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| nums_extend_bodies: 3 |
| extend_config: |
| - joint_name: left_hand_link |
| parent_name: left_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: right_hand_link |
| parent_name: right_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: head_link |
| parent_name: torso_link |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.42 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| motion_tracking_link: |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| lower_body_link: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| upper_body_link: |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| pelvis_link: pelvis |
| base_link: torso_link |
| hips_link: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| joint_matches: |
| - - pelvis |
| - Pelvis |
| - - left_hip_pitch_link |
| - L_Hip |
| - - left_knee_link |
| - L_Knee |
| - - left_ankle_roll_link |
| - L_Ankle |
| - - right_hip_pitch_link |
| - R_Hip |
| - - right_knee_link |
| - R_Knee |
| - - right_ankle_roll_link |
| - R_Ankle |
| - - left_shoulder_roll_link |
| - L_Shoulder |
| - - left_elbow_link |
| - L_Elbow |
| - - left_hand_link |
| - L_Hand |
| - - right_shoulder_roll_link |
| - R_Shoulder |
| - - right_elbow_link |
| - R_Elbow |
| - - right_hand_link |
| - R_Hand |
| - - head_link |
| - Head |
| smpl_pose_modifier: |
| - Pelvis: '[np.pi/2, 0, np.pi/2]' |
| - L_Shoulder: '[0, 0, -np.pi/2]' |
| - R_Shoulder: '[0, 0, np.pi/2]' |
| - L_Elbow: '[0, -np.pi/2, 0]' |
| - R_Elbow: '[0, np.pi/2, 0]' |
| visualization: |
| customize_color: true |
| marker_joint_colors: |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| device: cuda |
| nfeats: 57 |
| history_len: 2 |
| future_len: 8 |
| num_primitive: 4 |
| batch_size: 512 |
| weighted_sample: true |
| frame_weight: false |
| use_weighted_meanstd: false |
| split: train |
| val: |
| _target_: robotmdar.dataloader.data.SkeletonPrimitiveDataset |
| datadir: ./dataset/BABEL-TeleMotion-ROBOT-23dof-Full-1ANN-FULL-Merged-50fps |
| action_statistics_path: dataset/action_statistics_telemotion_amassFULL_norm.json |
| robot_cfg: |
| motion_lib_type: origin |
| asset: |
| assetRoot: /home/zhengjk/PyProject/PBHC-Internal/description/robots/g1/ |
| assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml |
| humanoid_type: g1_23dof_lock_wrist |
| bias_offset: false |
| has_self_collision: true |
| has_mesh: false |
| has_jt_limit: false |
| has_dof_subset: true |
| has_upright_start: true |
| has_smpl_pd_offset: false |
| remove_toe: false |
| motion_sym_loss: false |
| sym_loss_coef: 1 |
| big_ankle: true |
| has_shape_obs: false |
| has_shape_obs_disc: false |
| has_shape_variation: false |
| masterfoot: false |
| freeze_toe: false |
| freeze_hand: false |
| box_body: true |
| real_weight: true |
| real_weight_porpotion_capsules: true |
| real_weight_porpotion_boxes: true |
| body_names: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| limb_weight_group: |
| - - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - - pelvis |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| dof_names: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| foot_names: |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| nums_extend_bodies: 3 |
| extend_config: |
| - joint_name: left_hand_link |
| parent_name: left_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: right_hand_link |
| parent_name: right_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: head_link |
| parent_name: torso_link |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.42 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| motion_tracking_link: |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| lower_body_link: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| upper_body_link: |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| pelvis_link: pelvis |
| base_link: torso_link |
| hips_link: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| joint_matches: |
| - - pelvis |
| - Pelvis |
| - - left_hip_pitch_link |
| - L_Hip |
| - - left_knee_link |
| - L_Knee |
| - - left_ankle_roll_link |
| - L_Ankle |
| - - right_hip_pitch_link |
| - R_Hip |
| - - right_knee_link |
| - R_Knee |
| - - right_ankle_roll_link |
| - R_Ankle |
| - - left_shoulder_roll_link |
| - L_Shoulder |
| - - left_elbow_link |
| - L_Elbow |
| - - left_hand_link |
| - L_Hand |
| - - right_shoulder_roll_link |
| - R_Shoulder |
| - - right_elbow_link |
| - R_Elbow |
| - - right_hand_link |
| - R_Hand |
| - - head_link |
| - Head |
| smpl_pose_modifier: |
| - Pelvis: '[np.pi/2, 0, np.pi/2]' |
| - L_Shoulder: '[0, 0, -np.pi/2]' |
| - R_Shoulder: '[0, 0, np.pi/2]' |
| - L_Elbow: '[0, -np.pi/2, 0]' |
| - R_Elbow: '[0, np.pi/2, 0]' |
| visualization: |
| customize_color: true |
| marker_joint_colors: |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| device: cuda |
| nfeats: 57 |
| history_len: 2 |
| future_len: 8 |
| num_primitive: 4 |
| batch_size: 512 |
| weighted_sample: true |
| frame_weight: false |
| use_weighted_meanstd: false |
| split: val |
| vae: |
| _target_: robotmdar.model.mld_vae.AutoMldVae |
| nfeats: 57 |
| latent_dim: |
| - 1 |
| - 128 |
| h_dim: 512 |
| ff_size: 1024 |
| num_layers: 9 |
| num_heads: 4 |
| dropout: 0.1 |
| arch: all_encoder |
| normalize_before: false |
| activation: gelu |
| position_embedding: learned |
| denoiser: |
| _target_: robotmdar.model.mld_denoiser.DenoiserTransformer |
| h_dim: 512 |
| ff_size: 1024 |
| num_layers: 8 |
| num_heads: 4 |
| dropout: 0.1 |
| activation: gelu |
| clip_dim: 512 |
| history_shape: |
| - 2 |
| - 57 |
| noise_shape: |
| - 1 |
| - 128 |
| cond_mask_prob: 0.1 |
| diffusion: |
| num_timesteps: 5 |
| model: |
| _target_: robotmdar.diffusion.respace.SpacedDiffusion |
| use_timesteps: |
| _target_: robotmdar.diffusion.respace.space_timesteps |
| num_timesteps: 5 |
| section_counts: |
| - 5 |
| betas: |
| _target_: robotmdar.diffusion.gaussian_diffusion.get_named_beta_schedule |
| schedule_name: cosine |
| num_diffusion_timesteps: 5 |
| model_mean_type: |
| _target_: robotmdar.dtype.enum.make_enum |
| enum_path: robotmdar.diffusion.gaussian_diffusion.ModelMeanType |
| name: START_X |
| model_var_type: |
| _target_: robotmdar.dtype.enum.make_enum |
| enum_path: robotmdar.diffusion.gaussian_diffusion.ModelVarType |
| name: FIXED_SMALL |
| loss_type: |
| _target_: robotmdar.dtype.enum.make_enum |
| enum_path: robotmdar.diffusion.gaussian_diffusion.LossType |
| name: MSE |
| rescale_timesteps: false |
| schedule_sampler: |
| _target_: robotmdar.diffusion.resample.create_named_schedule_sampler |
| name: uniform |
| diffusion: |
| _target_: robotmdar.diffusion.respace.SpacedDiffusion |
| use_timesteps: |
| _target_: robotmdar.diffusion.respace.space_timesteps |
| num_timesteps: 5 |
| section_counts: |
| - 5 |
| betas: |
| _target_: robotmdar.diffusion.gaussian_diffusion.get_named_beta_schedule |
| schedule_name: cosine |
| num_diffusion_timesteps: 5 |
| model_mean_type: |
| _target_: robotmdar.dtype.enum.make_enum |
| enum_path: robotmdar.diffusion.gaussian_diffusion.ModelMeanType |
| name: START_X |
| model_var_type: |
| _target_: robotmdar.dtype.enum.make_enum |
| enum_path: robotmdar.diffusion.gaussian_diffusion.ModelVarType |
| name: FIXED_SMALL |
| loss_type: |
| _target_: robotmdar.dtype.enum.make_enum |
| enum_path: robotmdar.diffusion.gaussian_diffusion.LossType |
| name: MSE |
| rescale_timesteps: false |
| train: |
| opt: |
| lr: 0.0001 |
| _target_: robotmdar.torch.optim.Adam |
| manager: |
| _target_: robotmdar.train.manager.DARManager |
| stages: |
| - 100000 |
| - 100000 |
| - 100000 |
| use_rollout: true |
| use_static_pose: false |
| static_prob: 0.001 |
| static_perturbation_scale: 0.0 |
| save_every: 20000 |
| eval_every: 2000 |
| eval_steps: 10 |
| device: cuda |
| save_dir: /home/zhengjk/PyProject/tele_MDAR/RobotMDAR/logs/RobotMDAR/dar_23dof_telemotion_full_50fps_rollout_fullsample_NP4/train-dar-20251113_095739 |
| learning_rate: 0.0001 |
| anneal_lr: true |
| max_grad_norm: 1.0 |
| use_ema: false |
| ema_decay: 0.999 |
| loss_weight: |
| rec: 1.0 |
| kl: 0.0001 |
| body_trans: 0.05 |
| body_rot: 0.01 |
| dof_pos: 0.03 |
| dof_vel: 1.0e-05 |
| foot_contact: 0.01 |
| fk_joints_rec: 1.0 |
| joints_consistency: 1.0 |
| joints_delta: 1.0 |
| trans_delta: 1.0 |
| orient_delta: 1.0 |
| dof_delta: 1.0 |
| smooth: 0.0 |
| quantize_rot: 0.0 |
| quantize_trans: 0.0 |
| drift_yaw: 0.0 |
| drift_xy: 0.0 |
| latent_rec: 1.0 |
| ckpt: |
| vae: logs/RobotMDAR/vae_23dof_telemotion_amassFull_50fps_rollout_15w_NP4/train-mvae-20251113_010653/ckpt_140000.pth |
| dar: null |
| load_cfg: null |
| platform: |
| _target_: robotmdar.train.train_platforms.TensorboardPlatform |
| save_dir: /home/zhengjk/PyProject/tele_MDAR/RobotMDAR/logs/RobotMDAR/dar_23dof_telemotion_full_50fps_rollout_fullsample_NP4/train-dar-20251113_095739 |
| use_full_sample: true |
| skeleton: |
| motion_lib_type: origin |
| asset: |
| assetRoot: /home/zhengjk/PyProject/PBHC-Internal/description/robots/g1/ |
| assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml |
| humanoid_type: g1_23dof_lock_wrist |
| bias_offset: false |
| has_self_collision: true |
| has_mesh: false |
| has_jt_limit: false |
| has_dof_subset: true |
| has_upright_start: true |
| has_smpl_pd_offset: false |
| remove_toe: false |
| motion_sym_loss: false |
| sym_loss_coef: 1 |
| big_ankle: true |
| has_shape_obs: false |
| has_shape_obs_disc: false |
| has_shape_variation: false |
| masterfoot: false |
| freeze_toe: false |
| freeze_hand: false |
| box_body: true |
| real_weight: true |
| real_weight_porpotion_capsules: true |
| real_weight_porpotion_boxes: true |
| body_names: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| limb_weight_group: |
| - - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - - pelvis |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| dof_names: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| foot_names: |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| nums_extend_bodies: 3 |
| extend_config: |
| - joint_name: left_hand_link |
| parent_name: left_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: right_hand_link |
| parent_name: right_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: head_link |
| parent_name: torso_link |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.42 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| motion_tracking_link: |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| lower_body_link: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| upper_body_link: |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| pelvis_link: pelvis |
| base_link: torso_link |
| hips_link: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| joint_matches: |
| - - pelvis |
| - Pelvis |
| - - left_hip_pitch_link |
| - L_Hip |
| - - left_knee_link |
| - L_Knee |
| - - left_ankle_roll_link |
| - L_Ankle |
| - - right_hip_pitch_link |
| - R_Hip |
| - - right_knee_link |
| - R_Knee |
| - - right_ankle_roll_link |
| - R_Ankle |
| - - left_shoulder_roll_link |
| - L_Shoulder |
| - - left_elbow_link |
| - L_Elbow |
| - - left_hand_link |
| - L_Hand |
| - - right_shoulder_roll_link |
| - R_Shoulder |
| - - right_elbow_link |
| - R_Elbow |
| - - right_hand_link |
| - R_Hand |
| - - head_link |
| - Head |
| smpl_pose_modifier: |
| - Pelvis: '[np.pi/2, 0, np.pi/2]' |
| - L_Shoulder: '[0, 0, -np.pi/2]' |
| - R_Shoulder: '[0, 0, np.pi/2]' |
| - L_Elbow: '[0, -np.pi/2, 0]' |
| - R_Elbow: '[0, np.pi/2, 0]' |
| visualization: |
| customize_color: true |
| marker_joint_colors: |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
|
|
