{
  "policy_id": "flower_vla:calvin",
  "robot_type": "ffw_sg2_rev1",
  "checkpoint": "model.ckpt",
  "base_model": "microsoft/Florence-2-large",
  "cameras": [
    "observation.images.rgb.cam_left_head",
    "observation.images.rgb.cam_left_wrist",
    "observation.images.rgb.cam_right_wrist"
  ],
  "state_names": [
    "arm_l_joint1",
    "arm_l_joint2",
    "arm_l_joint3",
    "arm_l_joint4",
    "arm_l_joint5",
    "arm_l_joint6",
    "arm_l_joint7",
    "gripper_l_joint1",
    "arm_r_joint1",
    "arm_r_joint2",
    "arm_r_joint3",
    "arm_r_joint4",
    "arm_r_joint5",
    "arm_r_joint6",
    "arm_r_joint7",
    "gripper_r_joint1",
    "head_joint1",
    "head_joint2",
    "lift_joint",
    "linear_x",
    "linear_y",
    "angular_z"
  ],
  "action_names": [
    "arm_l_joint1",
    "arm_l_joint2",
    "arm_l_joint3",
    "arm_l_joint4",
    "arm_l_joint5",
    "arm_l_joint6",
    "arm_l_joint7",
    "gripper_l_joint1",
    "arm_r_joint1",
    "arm_r_joint2",
    "arm_r_joint3",
    "arm_r_joint4",
    "arm_r_joint5",
    "arm_r_joint6",
    "arm_r_joint7",
    "gripper_r_joint1",
    "head_joint1",
    "head_joint2",
    "lift_joint",
    "linear_x",
    "linear_y",
    "angular_z"
  ],
  "action_horizon": 10,
  "use_ema": true
}