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sim_act
File size: 3,332 Bytes
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{
  "name": "policy_postprocessor",
  "steps": [
    {
      "registry_name": "unnormalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "action": {
            "type": "ACTION",
            "shape": [
              20
            ]
          }
        },
        "norm_map": {
          "ACTION": "MEAN_STD",
          "STATE": "MEAN_STD",
          "VISUAL": "IDENTITY"
        }
      },
      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    },
    {
      "registry_name": "absolute_actions_processor",
      "config": {
        "enabled": true
      }
    },
    {
      "registry_name": "robco_postprocessor",
      "config": {
        "config": {
          "observation": {
            "images": {
              "head": null,
              "left_arm": null,
              "right_arm": null
            },
            "state": {
              "left_arm.pose": {
                "rotation": "6d"
              },
              "right_arm.pose": {
                "rotation": "6d"
              },
              "left_arm.gripper": null,
              "right_arm.gripper": null
            }
          },
          "action": {
            "left_arm.gripper": {
              "mode": "gripper_bin",
              "rotation": null
            },
            "right_arm.gripper": {
              "mode": "gripper_bin",
              "rotation": null
            },
            "left_arm.pose": {
              "mode": "pose_absolute",
              "rotation": "6d"
            },
            "right_arm.pose": {
              "mode": "pose_relative",
              "rotation": "6d"
            }
          }
        },
        "obs_input_axes": [
          "right_arm.pose.x",
          "right_arm.pose.y",
          "right_arm.pose.z",
          "right_arm.pose.qx",
          "right_arm.pose.qy",
          "right_arm.pose.qz",
          "right_arm.pose.qw",
          "left_arm.pose.x",
          "left_arm.pose.y",
          "left_arm.pose.z",
          "left_arm.pose.qx",
          "left_arm.pose.qy",
          "left_arm.pose.qz",
          "left_arm.pose.qw",
          "right_arm.gripper",
          "left_arm.gripper",
          "right_arm.joints.0",
          "right_arm.joints.1",
          "right_arm.joints.2",
          "right_arm.joints.3",
          "right_arm.joints.4",
          "right_arm.joints.5",
          "right_arm.joints.6",
          "left_arm.joints.0",
          "left_arm.joints.1",
          "left_arm.joints.2",
          "left_arm.joints.3",
          "left_arm.joints.4",
          "left_arm.joints.5",
          "left_arm.joints.6"
        ],
        "action_input_axes": [
          "right_arm.pose.x",
          "right_arm.pose.y",
          "right_arm.pose.z",
          "right_arm.pose.qx",
          "right_arm.pose.qy",
          "right_arm.pose.qz",
          "right_arm.pose.qw",
          "right_arm.gripper",
          "left_arm.pose.x",
          "left_arm.pose.y",
          "left_arm.pose.z",
          "left_arm.pose.qx",
          "left_arm.pose.qy",
          "left_arm.pose.qz",
          "left_arm.pose.qw",
          "left_arm.gripper"
        ]
      }
    }
  ]
}