# SONIC v1.1 - Observation Configuration
# =================================================
# Matches sonic_v1_1/model_encoder.onnx and model_decoder.onnx.
#
# Encoder input: 1751   Decoder input: 994   Token: 64
# G1/teleop references use 10 frames at step5. SMPL and wrist references use
# 10 frames at step1. Root orientations are normalized by robot heading.

observations:
  - name: "token_state"
    enabled: true
  - name: "his_base_angular_velocity_10frame_step1"
    enabled: true
  - name: "his_body_joint_positions_10frame_step1"
    enabled: true
  - name: "his_body_joint_velocities_10frame_step1"
    enabled: true
  - name: "his_last_actions_10frame_step1"
    enabled: true
  - name: "his_gravity_dir_10frame_step1"
    enabled: true

encoder:
  dimension: 64
  use_fp16: false
  encoder_observations:
    - name: "encoder_mode_4"
      enabled: true
    - name: "motion_joint_positions_10frame_step5"
      enabled: true
    - name: "motion_joint_velocities_10frame_step5"
      enabled: true
    - name: "motion_anchor_orientation_heading_10frame_step5"
      enabled: true
    - name: "motion_anchor_orientation_heading"
      enabled: true
    - name: "motion_joint_positions_lowerbody_10frame_step5"
      enabled: true
    - name: "motion_joint_velocities_lowerbody_10frame_step5"
      enabled: true
    - name: "vr_3point_local_target"
      enabled: true
    - name: "vr_3point_local_orn_target"
      enabled: true
    - name: "smpl_joints_10frame_step1"
      enabled: true
    - name: "smpl_anchor_orientation_heading_10frame_step1"
      enabled: true
    - name: "motion_joint_positions_wrists_10frame_step1"
      enabled: true
  encoder_modes:
    - name: "g1"
      mode_id: 0
      required_observations:
        - encoder_mode_4
        - motion_joint_positions_10frame_step5
        - motion_joint_velocities_10frame_step5
        - motion_anchor_orientation_heading_10frame_step5
    - name: "teleop"
      mode_id: 1
      required_observations:
        - encoder_mode_4
        - motion_joint_positions_lowerbody_10frame_step5
        - motion_joint_velocities_lowerbody_10frame_step5
        - vr_3point_local_target
        - vr_3point_local_orn_target
        - motion_anchor_orientation_heading
    - name: "smpl"
      mode_id: 2
      required_observations:
        - encoder_mode_4
        - smpl_joints_10frame_step1
        - smpl_anchor_orientation_heading_10frame_step1
        - motion_joint_positions_wrists_10frame_step1