| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "robco_preprocessor", | |
| "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" | |
| ] | |
| } | |
| }, | |
| { | |
| "registry_name": "delta_actions_processor", | |
| "config": { | |
| "enabled": true, | |
| "exclude_joints": [], | |
| "action_names": null, | |
| "relative_action_blocks": [ | |
| { | |
| "action_offset": 11, | |
| "action_len": 9 | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| }, | |
| { | |
| "registry_name": "normalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 20 | |
| ] | |
| }, | |
| "observation.images.right_arm.cam_1.image_color": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 480 | |
| ] | |
| }, | |
| "observation.images.left_arm.cam_1.image_color": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 480 | |
| ] | |
| }, | |
| "observation.images.head.cam_1.color.image_raw": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 480 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 20 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "ACTION": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "VISUAL": "IDENTITY" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" | |
| } | |
| ] | |
| } |