observation details

[liuqi8827]

Hi,

I run this project successfully.

I need to change the Allegro Hand model to the other hand model.

However, when I edit the code of def compute_sim2real_observation(self, rand_floats): and def compute_sim2real_asymmetric_obs(self, rand_floats): in https://github.com/cypypccpy/dynamic_handover/blob/master/dexteroushandenvs/tasks/allegro_hand_dynamic_handover.py, I did not understand the observation dimensions:

I can get the detailed description of the observation dimension in Shadow Hand https://github.com/PKU-MARL/DexterousHands/blob/main/bidexhands/tasks/shadow_hand_over.py

Can you give a detailed description of the observation dimensions in Allegro Hands?

Thanks a lot!