The calculation of the dexterous hand state

[yiqiaoqingyuyu]

Hello, I noticed in ppo/module.py at line 95 that self.num_obs = 300 and at line 98, self.num_obs = 191 + 29 # (robot_state). These values can also be found in shadow_hand_grasp.py under the class ShadowHandGrasp, where num_obs = 236 + 64 and self.num_hand_obs = 66 + 95 + 24 + 6 # 191 = 22*3 + (65+30) + 24. Could you explain the meaning of these values and how they are calculated?