Upload DataProcessorPipeline
Browse files
policy_postprocessor.json
ADDED
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| 1 |
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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| 5 |
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"registry_name": "unnormalizer_processor",
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| 6 |
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"config": {
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| 7 |
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"eps": 1e-08,
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"features": {
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"action": {
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"type": "ACTION",
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| 11 |
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"shape": [
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7
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]
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}
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},
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| 16 |
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"norm_map": {
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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}
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},
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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},
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{
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"registry_name": "act_romoya_postprocess_v1",
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| 26 |
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"config": {
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| 27 |
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"action_mode": null,
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| 28 |
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"state_feature_names": [
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"joint1.pos",
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| 30 |
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"joint2.pos",
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| 31 |
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"joint3.pos",
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| 32 |
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"joint4.pos",
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| 33 |
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"joint5.pos",
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| 34 |
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"joint6.pos",
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| 35 |
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"gripper.pos"
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| 36 |
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],
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"action_feature_names": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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| 41 |
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"joint4.pos",
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| 42 |
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"joint5.pos",
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| 43 |
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"joint6.pos",
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| 44 |
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"gripper.pos"
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| 45 |
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],
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| 46 |
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"binary_state": [
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| 47 |
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null,
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| 48 |
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null,
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| 49 |
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null,
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| 50 |
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null,
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| 51 |
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null,
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| 52 |
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null,
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| 53 |
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null
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| 54 |
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],
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"binary_action": [
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| 56 |
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null,
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| 57 |
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null,
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| 58 |
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null,
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| 59 |
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null,
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| 60 |
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null,
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| 61 |
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null,
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| 62 |
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[
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| 63 |
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50.0,
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| 64 |
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0.0,
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| 65 |
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99.0
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| 66 |
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]
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| 67 |
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],
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| 68 |
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"delta_action": [
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false,
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| 70 |
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false,
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false,
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| 72 |
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false,
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| 73 |
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false,
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| 74 |
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false,
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| 75 |
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false
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| 76 |
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],
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| 77 |
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"state_feature_names_to_keep": [
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| 78 |
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"joint1.pos",
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| 79 |
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"joint2.pos",
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| 80 |
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"joint3.pos",
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| 81 |
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"joint4.pos",
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| 82 |
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"joint5.pos",
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| 83 |
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"joint6.pos",
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| 84 |
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"gripper.pos",
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| 85 |
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"DO_1"
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| 86 |
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],
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| 87 |
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"raw_observation_state_feature_names": [
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| 88 |
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"joint1.pos",
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| 89 |
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"joint2.pos",
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| 90 |
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"joint3.pos",
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| 91 |
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"joint4.pos",
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| 92 |
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"joint5.pos",
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| 93 |
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"joint6.pos",
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| 94 |
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"gripper.pos",
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| 95 |
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"gripper.force",
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| 96 |
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"DO_0",
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| 97 |
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"DO_1",
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| 98 |
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"joint1.effort",
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| 99 |
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"joint2.effort",
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| 100 |
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"joint3.effort",
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| 101 |
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"joint4.effort",
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| 102 |
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"joint5.effort",
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| 103 |
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"joint6.effort",
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| 104 |
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"joint1.vel",
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| 105 |
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"joint2.vel",
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| 106 |
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"joint3.vel",
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| 107 |
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"joint4.vel",
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| 108 |
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"joint5.vel",
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| 109 |
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"joint6.vel",
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| 110 |
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"joint1.acc",
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| 111 |
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"joint2.acc",
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| 112 |
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"joint3.acc",
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| 113 |
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"joint4.acc",
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| 114 |
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"joint5.acc",
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| 115 |
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"joint6.acc",
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| 116 |
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"tcp.x",
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| 117 |
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"tcp.y",
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| 118 |
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"tcp.z",
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| 119 |
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"tcp.rx",
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| 120 |
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"tcp.ry",
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| 121 |
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"tcp.rz",
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| 122 |
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"joint1.temp",
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| 123 |
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"joint2.temp",
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| 124 |
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"joint3.temp",
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| 125 |
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"joint4.temp",
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| 126 |
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"joint5.temp",
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| 127 |
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"joint6.temp",
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| 128 |
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"joint1.voltage",
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| 129 |
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"joint2.voltage",
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| 130 |
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"joint3.voltage",
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| 131 |
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"joint4.voltage",
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| 132 |
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"joint5.voltage",
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| 133 |
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"joint6.voltage",
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| 134 |
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"flange_voltage",
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| 135 |
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"flange.x",
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| 136 |
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"flange.y",
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| 137 |
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"flange.z",
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| 138 |
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"flange.rx",
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| 139 |
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"flange.ry",
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| 140 |
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"flange.rz",
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| 141 |
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"target_joint1.pos",
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| 142 |
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"target_joint2.pos",
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| 143 |
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"target_joint3.pos",
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| 144 |
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"target_joint4.pos",
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| 145 |
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"target_joint5.pos",
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| 146 |
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"target_joint6.pos",
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| 147 |
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"target_joint1.vel",
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| 148 |
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"target_joint2.vel",
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| 149 |
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"target_joint3.vel",
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| 150 |
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"target_joint4.vel",
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| 151 |
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"target_joint5.vel",
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| 152 |
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"target_joint6.vel",
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| 153 |
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"target_joint1.acc",
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| 154 |
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"target_joint2.acc",
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| 155 |
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"target_joint3.acc",
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| 156 |
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"target_joint4.acc",
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| 157 |
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"target_joint5.acc",
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| 158 |
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"target_joint6.acc",
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| 159 |
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"target_joint1.effort",
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| 160 |
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"target_joint2.effort",
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| 161 |
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"target_joint3.effort",
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| 162 |
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"target_joint4.effort",
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| 163 |
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"target_joint5.effort",
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| 164 |
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"target_joint6.effort",
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| 165 |
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"target_tcp.x",
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| 166 |
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"target_tcp.y",
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| 167 |
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"target_tcp.z",
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| 168 |
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"target_tcp.rx",
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| 169 |
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"target_tcp.ry",
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| 170 |
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"target_tcp.rz"
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| 171 |
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],
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| 172 |
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"raw_action_feature_names": [
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| 173 |
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"joint1.pos",
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| 174 |
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"joint2.pos",
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| 175 |
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"joint3.pos",
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| 176 |
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"joint4.pos",
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| 177 |
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"joint5.pos",
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| 178 |
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"joint6.pos",
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| 179 |
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"gripper.pos",
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| 180 |
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"gripper.force",
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| 181 |
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"DO_0",
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| 182 |
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"DO_1",
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| 183 |
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"joint1.effort",
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| 184 |
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"joint2.effort",
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| 185 |
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"joint3.effort",
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| 186 |
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"joint4.effort",
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| 187 |
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"joint5.effort",
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| 188 |
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"joint6.effort",
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| 189 |
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"joint1.vel",
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| 190 |
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"joint2.vel",
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| 191 |
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"joint3.vel",
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| 192 |
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"joint4.vel",
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| 193 |
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"joint5.vel",
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| 194 |
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"joint6.vel",
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| 195 |
+
"joint1.acc",
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| 196 |
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"joint2.acc",
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| 197 |
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"joint3.acc",
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| 198 |
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"joint4.acc",
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| 199 |
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"joint5.acc",
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| 200 |
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"joint6.acc",
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| 201 |
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"joint1.temp",
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| 202 |
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"joint1.voltage",
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| 203 |
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"joint2.temp",
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| 204 |
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"joint2.voltage",
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| 205 |
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"joint3.temp",
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| 206 |
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"joint3.voltage",
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| 207 |
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"joint4.temp",
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| 208 |
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"joint4.voltage",
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| 209 |
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"joint5.temp",
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| 210 |
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"joint5.voltage",
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| 211 |
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"joint6.temp",
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| 212 |
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"joint6.voltage",
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| 213 |
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"flange_voltage",
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| 214 |
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"tcp.x",
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| 215 |
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"tcp.y",
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| 216 |
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"tcp.z",
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| 217 |
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"tcp.rx",
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| 218 |
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"tcp.ry",
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| 219 |
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"tcp.rz"
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| 220 |
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],
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| 221 |
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"joint_action_names": [
|
| 222 |
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"joint1.pos",
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| 223 |
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"joint2.pos",
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| 224 |
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"joint3.pos",
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| 225 |
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"joint4.pos",
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| 226 |
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"joint5.pos",
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| 227 |
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"joint6.pos"
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| 228 |
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],
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| 229 |
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"gripper_action_name": "gripper.pos",
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| 230 |
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"do_action_names": [
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| 231 |
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"DO_1"
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| 232 |
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],
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| 233 |
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"do_threshold": 0.5,
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| 234 |
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"sigmoid_do_outputs": false,
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| 235 |
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"context_id": "act_romoya",
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| 236 |
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"gripper_min": 0.0,
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| 237 |
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"gripper_max": 100.0
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| 238 |
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}
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| 239 |
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},
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| 240 |
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{
|
| 241 |
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"registry_name": "device_processor",
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| 242 |
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"config": {
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| 243 |
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"device": "cpu",
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| 244 |
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"float_dtype": null
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| 245 |
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}
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| 246 |
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}
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| 247 |
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]
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| 248 |
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}
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policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:f6f9ca77e9e4ea01645e4e79b2c90cde49dbea32a4a88f3a735dfe05c3f8da94
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| 3 |
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size 8608
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