policy_postprocessor.json

{
  "name": "policy_postprocessor",
  "steps": [
    {
      "registry_name": "groot_action_unpack_unnormalize_v2",
      "config": {
        "env_action_dim": 6,
        "normalize_min_max": true,
        "clip_normalized_action": true,
        "libero_gripper_action": false,
        "libero_gripper_binarize": true,
        "use_relative_actions": true,
        "relative_exclude_joints": [
          "gripper"
        ],
        "action_feature_names": [
          "shoulder_pan.pos",
          "shoulder_lift.pos",
          "elbow_flex.pos",
          "wrist_flex.pos",
          "wrist_roll.pos",
          "gripper.pos"
        ]
      },
      "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors"
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    }
  ]
}