File size: 722 Bytes
89e5d21 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 | import numpy as np
from preprocessor.feature_extractor import MotokoFeatureExtractor
def forecast_force(signal: dict[str, np.ndarray]) -> np.ndarray:
extractor = MotokoFeatureExtractor.from_config("preprocessor/preprocessor_config.json")
features = extractor(signal)
force_slice = features["input_values"][:, :3]
return force_slice[-10:].mean(axis=0)
if __name__ == "__main__":
signal = {
"force": np.random.randn(256, 3).astype(np.float32),
"torque": np.random.randn(256, 3).astype(np.float32),
"pressure": np.random.randn(256, 16).astype(np.float32),
"vibration": np.random.randn(256, 6).astype(np.float32),
}
print("next_force:", forecast_force(signal))
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