policy.json

{
    "action_scaling": {
        ".*elbow_joint": 1.0,
        ".*shoulder.*": 1.0,
        ".*wrist.*": 1.0,
        ".*hip_roll.*": 0.5,
        ".*hip_yaw.*": 0.5,
        ".*hip_pitch.*": 0.5,
        ".*knee.*": 0.5,
        ".*waist.*": 0.5,
        ".*ankle.*": 0.5
    },
    "in_keys": [
        "policy"
    ],
    "out_keys": [
        "policy",
        "priv_pred",
        "_actor_inp",
        "_actor_feature",
        "loc",
        "scale",
        "action",
        "sample_log_prob"
    ],
    "in_shapes": [
        [
            [
                1,
                623
            ]
        ]
    ]
}