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act_droid_pick_place
File size: 2,531 Bytes
8096667
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
  "name": "policy_preprocessor",
  "steps": [
    {
      "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.gripper_position": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.state.cartesian_position": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.state.joint_position": {
            "type": "STATE",
            "shape": [
              7
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.images.wrist_left": {
            "type": "VISUAL",
            "shape": [
              3,
              180,
              320
            ]
          },
          "action.gripper_position": {
            "type": "ACTION",
            "shape": [
              1
            ]
          },
          "action.gripper_velocity": {
            "type": "ACTION",
            "shape": [
              1
            ]
          },
          "action.cartesian_position": {
            "type": "ACTION",
            "shape": [
              6
            ]
          },
          "action.cartesian_velocity": {
            "type": "ACTION",
            "shape": [
              6
            ]
          },
          "action.joint_position": {
            "type": "ACTION",
            "shape": [
              7
            ]
          },
          "action.joint_velocity": {
            "type": "ACTION",
            "shape": [
              7
            ]
          },
          "action.original": {
            "type": "ACTION",
            "shape": [
              7
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              8
            ]
          }
        },
        "norm_map": {
          "VISUAL": "MEAN_STD",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    }
  ]
}