Config Reference

Complete reference for all configurable fields.

Top-Level Fields

Field	Description	Default
policy_hz	Policy inference frequency	50
pd_hz	PD control frequency (simulation only)	200
viewers	Viewer set: mocap, retarget, sim2sim, all, none	sim2sim
realtime	Rate-limit to wall clock	false
num_steps	Number of steps; 0 = infinite	0
transition_duration	Smooth transition time (seconds) from current pose to retarget command	-
playback.pause_on_end	Pause at last frame when offline motion ends	false
playback.keyboard.enabled	Enable keyboard control for offline playback	false

Robot

Field	Description	Default
robot.num_actions	Joint action dimension	29
robot.xml_path	MuJoCo XML path	-
robot.kps / robot.kds	PD gains	-
robot.default_angles	Default standing pose	-
robot.torque_limits	Joint torque limits	-

Controller

Field	Description	Default
controller.policy_path	Required. Path to ONNX policy file	-
controller.device	Inference device: cpu / auto / cuda:N	cpu
controller.action_scale	Action scaling factor	-
controller.clip_range	Action clipping range	-
controller.default_dof_pos	Joint angle offset base	-

Input

Offline BVH

Field	Description
input.bvh_file	Required. Path to BVH file
input.bvh_format	lafan1 / hc_mocap
input.human_format	Human skeleton format

BVH input does not set input.provider — it is inferred from the config group name.

Pico 4

Field	Description	Default
input.provider	pico4	pico4
input.pico4_timeout	Wait timeout in seconds	60
input.pico4_buffer_size	Frame buffer size	60
input.pause_button	Button for pause/resume	A
input.pause_debounce_s	Debounce time for pause button	0.25

ZMQ Pico 4 (Onboard)

Field	Description	Default
input.provider	zmq_pico4	zmq_pico4
input.zmq_host	IP of the PC running ZMQ publisher	192.168.1.100
input.zmq_port	ZMQ PUB port	5555
input.zmq_topic	ZMQ topic	pico4
input.zmq_timeout	Wait timeout for first ZMQ frame (seconds)	30

Realtime

Field	Description
retarget_buffer_enabled	Enable retarget buffering
retarget_buffer_window_s	Buffer window size
retarget_buffer_delay_s	Buffer delay
reference_steps	Reference window steps
realtime_buffer_warmup_steps	Warmup before playback
realtime_buffer_low_watermark_steps	Low watermark
realtime_buffer_high_watermark_steps	High watermark
reference_velocity_smoothing_alpha	Velocity smoothing
reference_anchor_velocity_smoothing_alpha	Anchor velocity smoothing

Sim2Real

Fields used by sim2real configs (sim2real.yaml, pico4_sim2real.yaml, onboard_sim2real.yaml).

Safety

Field	Description	Default
startup_ramp_duration	Seconds to smoothly blend from locked to policy positions	2.0
joint_vel_limit	Joint velocity limit (rad/s); triggers emergency damping if exceeded	10.0
mocap_switch.check_frames	Consecutive valid frames required before switching to MOCAP	10
mocap_switch.max_position_value	Position sanity threshold in meters	5.0

Real Robot

Field	Description	Default
real_robot.network_interface	Network interface for DDS communication	eth0
real_robot.kp_real	Real-robot proportional gains (per joint)	-
real_robot.kd_real	Real-robot derivative gains (per joint)	-
real_robot.kd_damping	Damping mode kd	8.0
real_robot.control_mode	Ankle control mode (PR = Pitch-Roll)	PR
real_robot.joint_pos_lower	Joint position lower limits (rad)	-
real_robot.joint_pos_upper	Joint position upper limits (rad)	-

Pause/Resume (Pico sim2real)

Field	Description	Default
pause_resume_transition_duration	Seconds to blend from paused pose back to live mocap	1.0
pause_resume_warmup_steps	Mocap frames to accumulate before resuming	2
pause_reset_alignment_on_resume	Rebuild yaw/pivot alignment after pause	true

Realtime Catch-up (Pico sim2real / Onboard)

Field	Description	Default
realtime_catchup_enabled	Enable catch-up when buffer grows too large	true
realtime_catchup_trigger_steps	Buffer depth that triggers catch-up	6
realtime_catchup_release_steps	Buffer depth to release catch-up	3
realtime_catchup_target_delay_s	Target delay for catch-up	0.04
reference_qpos_smoothing_alpha	Joint position smoothing (1.0 = no smoothing)	0.4

Critical: default_dof_pos

The RL policy outputs action offsets relative to the default standing pose, not absolute joint angles:

target_dof_pos = clip(action, low, high) * action_scale + default_dof_pos

Therefore:

• default_dof_pos must align with robot.default_angles
• Missing this offset causes the robot to fall immediately

TeleopPipeline automatically passes robot.default_angles to the controller's default_dof_pos during initialization. Understanding this chain is important when writing custom entry points or tests.