| { | |
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| "decode_clip": false, | |
| "encode_clamp_sigma": 12.0, | |
| "gripper_indices": [ | |
| 6, | |
| 13 | |
| ], | |
| "gripper_normalization": "2x-1_clip_[-1,1]_on_encode", | |
| "gripper_semantics": "larger_is_more_open", | |
| "joint_indices": [ | |
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| 1, | |
| 2, | |
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| 8, | |
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| 11, | |
| 12 | |
| ], | |
| "joint_normalization": "zscore_mean_std_all_clean_frames", | |
| "joint_order": [ | |
| "left_waist", | |
| "left_shoulder", | |
| "left_elbow", | |
| "left_forearm_roll", | |
| "left_wrist_angle", | |
| "left_wrist_rotate", | |
| "left_gripper", | |
| "right_waist", | |
| "right_shoulder", | |
| "right_elbow", | |
| "right_forearm_roll", | |
| "right_wrist_angle", | |
| "right_wrist_rotate", | |
| "right_gripper" | |
| ], | |
| "padding": "end-of-episode windows repeat the last frame; supervised", | |
| "representation": "14-D absolute joint/qpos", | |
| "state_mean": [ | |
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| ], | |
| "version": "reswam-robodojo-absolute-qpos-zscore-joints-affine-grippers-14d-v1" | |
| } | |