{
  "name": "policy_postprocessor",
  "steps": [
    {
      "registry_name": "unnormalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "action": {
            "type": "ACTION",
            "shape": [
              7
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
    },
    {
      "registry_name": "absolute_actions_processor",
      "config": {
        "enabled": false
      }
    },
    {
      "registry_name": "data_transforms_processor",
      "config": {
        "input_features": {
          "observation.images.side": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ],
            "names": [
              "channel",
              "height",
              "width"
            ],
            "dtype": "torch.float32"
          },
          "observation.images.wrist": {
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            "shape": [
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              224,
              224
            ],
            "names": [
              "channel",
              "height",
              "width"
            ],
            "dtype": "torch.float32"
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              9
            ],
            "names": [
              "x",
              "y",
              "z",
              "qx",
              "qy",
              "qz",
              "qw",
              "gripper_q1",
              "gripper_q2"
            ],
            "dtype": "torch.float32"
          }
        },
        "output_features": {
          "action": {
            "type": "ACTION",
            "shape": [
              7
            ],
            "names": [
              "x",
              "y",
              "z",
              "rx",
              "ry",
              "rz",
              "tool"
            ],
            "dtype": "torch.float32"
          }
        },
        "chunk_size": 50,
        "data_transforms": [
          "robosuite_manipulator_absolute_to_delta_actions"
        ],
        "inverse": true
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    }
  ]
}