{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "relative_actions_processor",
      "config": {
        "enabled": false,
        "exclude_joints": [
          "gripper"
        ],
        "action_names": [
          "left_wrist_pos_x",
          "left_wrist_pos_y",
          "left_wrist_pos_z",
          "left_wrist_quat_x",
          "left_wrist_quat_y",
          "left_wrist_quat_z",
          "left_wrist_quat_w",
          "right_wrist_pos_x",
          "right_wrist_pos_y",
          "right_wrist_pos_z",
          "right_wrist_quat_x",
          "right_wrist_quat_y",
          "right_wrist_quat_z",
          "right_wrist_quat_w",
          "left_forearm_quat_x",
          "left_forearm_quat_y",
          "left_forearm_quat_z",
          "left_forearm_quat_w",
          "right_forearm_quat_x",
          "right_forearm_quat_y",
          "right_forearm_quat_z",
          "right_forearm_quat_w",
          "neck_quat_x",
          "neck_quat_y",
          "neck_quat_z",
          "neck_quat_w",
          "left_ability_hand_index_q1",
          "left_ability_hand_index_q2",
          "left_ability_hand_middle_q1",
          "left_ability_hand_middle_q2",
          "left_ability_hand_ring_q1",
          "left_ability_hand_ring_q2",
          "left_ability_hand_pinky_q1",
          "left_ability_hand_pinky_q2",
          "left_ability_hand_thumb_q1",
          "left_ability_hand_thumb_q2",
          "right_ability_hand_index_q1",
          "right_ability_hand_index_q2",
          "right_ability_hand_middle_q1",
          "right_ability_hand_middle_q2",
          "right_ability_hand_ring_q1",
          "right_ability_hand_ring_q2",
          "right_ability_hand_pinky_q1",
          "right_ability_hand_pinky_q2",
          "right_ability_hand_thumb_q1",
          "right_ability_hand_thumb_q2"
        ]
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.cam_zed_left": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.cam_zed_right": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              48
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              46
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    },
    {
      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
      "config": {}
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 200,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "google/paligemma-3b-pt-224"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}