{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.base": "observation.images.cam_high",
          "observation.images.left_wrist": "observation.images.cam_left_wrist",
          "observation.images.right_wrist": "observation.images.cam_right_wrist"
        }
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "relative_actions_processor",
      "config": {
        "enabled": true,
        "exclude_joints": [
          "gripper"
        ],
        "action_names": [
          "right_joint_1.pos",
          "right_joint_2.pos",
          "right_joint_3.pos",
          "right_joint_4.pos",
          "right_joint_5.pos",
          "right_joint_6.pos",
          "right_joint_7.pos",
          "right_gripper.pos",
          "left_joint_1.pos",
          "left_joint_2.pos",
          "left_joint_3.pos",
          "left_joint_4.pos",
          "left_joint_5.pos",
          "left_joint_6.pos",
          "left_joint_7.pos",
          "left_gripper.pos"
        ]
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.cam_high": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.cam_left_wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.cam_right_wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              16
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "IDENTITY",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}