Using CALM with a different humanoid.xml

[VineetTambe]

I am trying setup training with a different mjcx/humnoid.xml file however I am facing a lot of dimension issues and observation space issues if I just replace the asset_file.

What files and changes do I have to do in order for the repo to work on a custom humanoid.xml with retargetted motions

Edit 1: I have a humanoid with the 33 nodes in the SkeletonTree and a matching retargetted mocap. But don't want to actuate all of the joints - only want to actuate a subset similar to that of the AMP humanoid. Is there a way I can extend the current repo to match the above?

Edit 2: Can you also elaborate on how the following vars in the observation space is constructed?

self._dof_obs_size = 72
self._num_obs = 1 + 15 * (3 + 6 + 3 + 3) - 3