| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "disassemble_vector", |
| "config": { |
| "mode": "observation.state", |
| "hf_topics": [ |
| "observation.state.right_arm_pose", |
| "observation.state.left_arm_pose", |
| "observation.state.right_gripper", |
| "observation.state.left_gripper", |
| "observation.state.right_arm_joints", |
| "observation.state.left_arm_joints" |
| ], |
| "dims": [ |
| 7, |
| 7, |
| 1, |
| 1, |
| 7, |
| 7 |
| ] |
| } |
| }, |
| { |
| "registry_name": "disassemble_vector", |
| "config": { |
| "mode": "action", |
| "hf_topics": [ |
| "action.right_arm.gripper.target_aperture", |
| "action.left_arm.gripper.target_aperture", |
| "action.right_arm.target_pose", |
| "action.left_arm.target_pose" |
| ], |
| "dims": [ |
| 1, |
| 1, |
| 7, |
| 7 |
| ] |
| } |
| }, |
| { |
| "registry_name": "filter_topics", |
| "config": { |
| "observation_state_topics": [ |
| "observation.state.right_arm_pose", |
| "observation.state.left_arm_pose", |
| "observation.state.right_gripper", |
| "observation.state.left_gripper", |
| "observation.state.right_arm_joints", |
| "observation.state.left_arm_joints" |
| ], |
| "observation_images_topics": [ |
| "observation.images.head.cam_1.color.image_raw", |
| "observation.images.left_arm.cam_1.image_color", |
| "observation.images.right_arm.cam_1.image_color" |
| ], |
| "action_topics": [ |
| "action.right_arm.gripper.target_aperture", |
| "action.left_arm.gripper.target_aperture", |
| "action.right_arm.target_pose", |
| "action.left_arm.target_pose" |
| ] |
| } |
| }, |
| { |
| "registry_name": "quaternion_to_6d", |
| "config": { |
| "apply_to_topics": [ |
| "action.left_arm.target_pose", |
| "action.right_arm.target_pose" |
| ] |
| } |
| }, |
| { |
| "registry_name": "quaternion_to_6d", |
| "config": { |
| "apply_to_topics": [ |
| "observation.state.left_arm_pose", |
| "observation.state.right_arm_pose" |
| ] |
| } |
| }, |
| { |
| "registry_name": "assemble_vector", |
| "config": { |
| "mode": "observation.state", |
| "hf_topics": [ |
| "observation.state.right_arm_pose", |
| "observation.state.left_arm_pose", |
| "observation.state.right_gripper", |
| "observation.state.left_gripper", |
| "observation.state.right_arm_joints", |
| "observation.state.left_arm_joints" |
| ], |
| "dims": [ |
| 9, |
| 9, |
| 1, |
| 1, |
| 7, |
| 7 |
| ] |
| } |
| }, |
| { |
| "registry_name": "assemble_vector", |
| "config": { |
| "mode": "action", |
| "hf_topics": [ |
| "action.right_arm.gripper.target_aperture", |
| "action.left_arm.gripper.target_aperture", |
| "action.right_arm.target_pose", |
| "action.left_arm.target_pose" |
| ], |
| "dims": [ |
| 1, |
| 1, |
| 9, |
| 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.images.head.cam_1.color.image_raw": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.left_arm.cam_1.image_color": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.right_arm.cam_1.image_color": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 34 |
| ] |
| }, |
| "action.right_arm.gripper.target_aperture": { |
| "type": "ACTION", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "action.left_arm.gripper.target_aperture": { |
| "type": "ACTION", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "action.right_arm.target_pose": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "action.left_arm.target_pose": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 20 |
| ] |
| } |
| }, |
| "norm_map": { |
| "ACTION": "MEAN_STD", |
| "STATE": "MEAN_STD", |
| "VISUAL": "MEAN_STD" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_10_normalizer_processor.safetensors" |
| } |
| ] |
| } |
