{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "act_romoya_preprocess_v1",
      "config": {
        "state_feature_names_to_keep": [
          "joint1.pos",
          "joint2.pos",
          "joint3.pos",
          "joint4.pos",
          "joint5.pos",
          "joint6.pos",
          "gripper.pos",
          "DO_1"
        ],
        "raw_observation_state_feature_names": [
          "joint1.pos",
          "joint2.pos",
          "joint3.pos",
          "joint4.pos",
          "joint5.pos",
          "joint6.pos",
          "gripper.pos",
          "gripper.force",
          "DO_0",
          "DO_1",
          "joint1.effort",
          "joint2.effort",
          "joint3.effort",
          "joint4.effort",
          "joint5.effort",
          "joint6.effort",
          "joint1.vel",
          "joint2.vel",
          "joint3.vel",
          "joint4.vel",
          "joint5.vel",
          "joint6.vel",
          "joint1.acc",
          "joint2.acc",
          "joint3.acc",
          "joint4.acc",
          "joint5.acc",
          "joint6.acc",
          "tcp.x",
          "tcp.y",
          "tcp.z",
          "tcp.rx",
          "tcp.ry",
          "tcp.rz"
        ],
        "raw_action_feature_names": [
          "joint1.pos",
          "joint2.pos",
          "joint3.pos",
          "joint4.pos",
          "joint5.pos",
          "joint6.pos",
          "gripper.pos",
          "gripper.force",
          "DO_0",
          "DO_1"
        ],
        "joint_action_names": [
          "joint1.pos",
          "joint2.pos",
          "joint3.pos",
          "joint4.pos",
          "joint5.pos",
          "joint6.pos"
        ],
        "gripper_action_name": "gripper.pos",
        "do_action_names": [
          "DO_1"
        ],
        "context_id": "act_romoya"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              640
            ]
          },
          "observation.images.top": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              640
            ]
          },
          "observation.images.side": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              640
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              8
            ]
          }
        },
        "norm_map": {
          "VISUAL": "MEAN_STD",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
    }
  ]
}