add diffusion jointpos policy

src/openpi/training/config.py

@@ -476,6 +476,20 @@ _CONFIGS = [
             ),
         ),
     ),
+    TrainConfig(
+        name="pi0_droid_jointpos",
+        model=pi0.Pi0Config(action_horizon=10),
+        data=SimpleDataConfig(
+            assets=AssetsConfig(asset_id="droid"),
+            data_transforms=lambda model: _transforms.Group(
+                inputs=[droid_policy.DroidInputs(action_dim=model.action_dim)],
+                outputs=[_transforms.AbsoluteActions(_transforms.make_bool_mask(7, -1)), droid_policy.DroidOutputs()],
+            ),
+            base_config=DataConfig(
+                prompt_from_task=True,
+            ),
+        ),
+    ),
     TrainConfig(
         name="pi0_fast_droid_jointpos",
         model=pi0_fast.Pi0FASTConfig(action_dim=8, action_horizon=10),