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"name": "policy_preprocessor",
"steps": [
{
"registry_name": "rename_observations_processor",
"config": {
"rename_map": {}
}
},
{
"registry_name": "act_romoya_preprocess_v1",
"config": {
"action_mode": null,
"state_feature_names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos"
],
"action_feature_names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos"
],
"binary_state": [
null,
null,
null,
null,
null,
null,
90.0
],
"binary_action": [
null,
null,
null,
null,
null,
null,
[
90.0,
0.0,
99.0
]
],
"delta_action": [
false,
false,
false,
false,
false,
false,
false
],
"state_feature_names_to_keep": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"DO_1"
],
"raw_observation_state_feature_names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"gripper.force",
"DO_0",
"DO_1",
"joint1.effort",
"joint2.effort",
"joint3.effort",
"joint4.effort",
"joint5.effort",
"joint6.effort",
"joint1.vel",
"joint2.vel",
"joint3.vel",
"joint4.vel",
"joint5.vel",
"joint6.vel",
"joint1.acc",
"joint2.acc",
"joint3.acc",
"joint4.acc",
"joint5.acc",
"joint6.acc",
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.rx",
"tcp.ry",
"tcp.rz",
"joint1.temp",
"joint2.temp",
"joint3.temp",
"joint4.temp",
"joint5.temp",
"joint6.temp",
"joint1.voltage",
"joint2.voltage",
"joint3.voltage",
"joint4.voltage",
"joint5.voltage",
"joint6.voltage",
"flange_voltage",
"flange.x",
"flange.y",
"flange.z",
"flange.rx",
"flange.ry",
"flange.rz",
"target_joint1.pos",
"target_joint2.pos",
"target_joint3.pos",
"target_joint4.pos",
"target_joint5.pos",
"target_joint6.pos",
"target_joint1.vel",
"target_joint2.vel",
"target_joint3.vel",
"target_joint4.vel",
"target_joint5.vel",
"target_joint6.vel",
"target_joint1.acc",
"target_joint2.acc",
"target_joint3.acc",
"target_joint4.acc",
"target_joint5.acc",
"target_joint6.acc",
"target_joint1.effort",
"target_joint2.effort",
"target_joint3.effort",
"target_joint4.effort",
"target_joint5.effort",
"target_joint6.effort",
"target_tcp.x",
"target_tcp.y",
"target_tcp.z",
"target_tcp.rx",
"target_tcp.ry",
"target_tcp.rz"
],
"raw_action_feature_names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"gripper.force",
"DO_0",
"DO_1"
],
"joint_action_names": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos"
],
"gripper_action_name": "gripper.pos",
"do_action_names": [
"DO_1"
],
"context_id": "act_romoya"
}
},
{
"registry_name": "to_batch_processor",
"config": {}
},
{
"registry_name": "image_crop_resize_processor",
"config": {
"crop_params_dict": null,
"resize_size": [
360,
640
]
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cuda",
"float_dtype": null
}
},
{
"registry_name": "normalizer_processor",
"config": {
"eps": 1e-08,
"features": {
"observation.state": {
"type": "STATE",
"shape": [
7
]
},
"observation.images.wrist": {
"type": "VISUAL",
"shape": [
3,
1080,
1920
]
},
"observation.images.top": {
"type": "VISUAL",
"shape": [
3,
1080,
1920
]
},
"observation.images.side": {
"type": "VISUAL",
"shape": [
3,
1080,
1920
]
},
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"norm_map": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
}
},
"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
}
]
} |