sim2real and training robot questions #82

May I ask, in sim2real, the policy input 'obs' uses' dof-pos_minus_default', which means the difference from the initial position? In mimic training, is the obs input 'dof-pos' or' dof-pos_minus_default '? If the trained obs is dof_pos, what is the function of dof_pos_inus_default in sim2real?