def _unformat_action_to_joint(self, action):
        """
        Unformat the unified action vector into the joint action to be executed.

        Args:
            action (torch.Tensor): The unified action vector to be unformatted. 
                ([B, N, 128])
        
        Returns:
            joints (torch.Tensor): The unformatted robot joint action. 
                qpos ([B, N, 14]).
        """
        action_indices = AGILEX_STATE_INDICES
        joints = action[:, :, action_indices]
        
        # Rescale the gripper back to the action range
        # Note that the action range and proprioception range are different
        # for Mobile ALOHA robot
        joints = joints * torch.tensor(
            [[[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]]],
            device=joints.device, dtype=joints.dtype
        )
        
        return joints

        Unformat the unified action vector into the joint action to be executed.

        Args:
            action (torch.Tensor): The unified action vector to be unformatted. 
                ([B, N, 128])
        
        Returns:
            joints (torch.Tensor): The unformatted robot joint action. 
                qpos ([B, N, 14]).
        
policy/RDT/scripts/agilex_model.py