model_type: actioncodec2_unified
config_version: 1
physical:
  input_dim: 7
  components:
    translation_m:
      dims:
        start: 0
        stop: 3
      space: additive
      input_order: 0
      primitive_order: 2
      input_transform:
        scale: 1.0
        clip: false
      constraints:
        order_0:
          min: -2.0
          max: 2.0
        order_2:
          min: -0.025
          max: 0.025
        order_1:
          min: -0.08
          max: 0.08
      distortion_limit: 0.005
      primitive_selection: smooth
    orientation_so3:
      dims:
        start: 3
        stop: 6
      space: so3
      input_order: 0
      primitive_order: 2
      input_transform:
        scale: 1.0
        clip: false
      constraints:
        order_0:
          min: -3.141592653589793
          max: 3.141592653589793
        order_2:
          min: -0.08
          max: 0.08
        order_1:
          min: -0.25
          max: 0.25
      distortion_limit: 0.02
      primitive_selection: smooth
      representation: rotation_vector
      multiplication: right
    gripper_open_command:
      dims:
      - 6
      space: additive
      input_order: 0
      primitive_order: 0
      input_transform:
        scale: 1.0
        clip: true
      constraints:
        order_0:
          min: 0.0
          max: 1.0
      distortion_limit: 0.5
      primitive_selection: nearest
set_bpe:
  lookahead: 8
  allow_cross_component_merge: false
train:
  primitives:
    zero_primitive_components:
    - translation_m
    - orientation_so3
  bpe:
    spatial_vocab_size: 2048
    vocab_size: 4096
  quality_control:
    hard_order_1_scale: 3.0
    min_segment_length: 2