All Supine Keyframes not specified in yaml configuration file

[GaneshIyer1008]

The paper mentions the use of 6 keyframes, 3 for intermediate supine poses and 3 for intermediate prone poses. But, the yaml files have only 4 reference states for KSI, out of which 3 are prone and only 1 is supine I believe. This is leading to a policy that is very biased towards prone getup. It gets stuck when trying to getup from supine position, or tries to roll into prone pose first.