{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.image2": "observation.images.wrist_image"
        }
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "perceptron_isaac_state_frame_transform",
      "config": {
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        "joint_offsets": null
      }
    },
    {
      "registry_name": "perceptron_isaac_training_action_frame_transform",
      "config": {
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        "joint_offsets": null
      }
    },
    {
      "registry_name": "perceptron_isaac_mharmony_pack",
      "config": {
        "enabled": true,
        "inference_backend": "native_mharmony",
        "config_toml_path": null,
        "stats_path": null,
        "camera_order": [
          "image",
          "wrist_image"
        ],
        "image_size": [
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          256
        ],
        "image_preprocessing": "stretch",
        "image_keys": [
          "observation.images.image",
          "observation.images.wrist_image"
        ],
        "allow_image_key_fallback": false,
        "normalize_language": true,
        "n_obs_steps": 3,
        "chunk_size": 50,
        "objective": "mixed",
        "patch_size": 16,
        "max_num_patches": 576,
        "min_num_patches": null,
        "pixel_shuffle_scale": 2,
        "temporal_patch_size": 2,
        "device": "cuda",
        "dtype": "bfloat16",
        "stream_key": "perceptron_isaac_stream",
        "metadata_key": "perceptron_isaac_render_meta",
        "target_fps": 20.0,
        "normalization_profile_id": null,
        "normalization_profile_scope": null,
        "normalization_validation_status": null,
        "suite_stats_path": null,
        "suite_by_task_index_path": null,
        "native_render_metadata_path": null,
        "native_stats_path": null,
        "fast_processor_path": "../fast_processor_pinned",
        "fast_processor_tree_sha256": "127eb029e5acb8242c7bc2c8efcea6c5dd6ffb565353b5c689b8c8ac55f33a8a",
        "mharmony_version": "0.1.0",
        "action_dim": 7,
        "proprio_dim": 8,
        "vector_max_states": 128,
        "dataset_name": "libero",
        "robot_type": "libero",
        "action_conditioning": false,
        "action_conditioning_role": "user",
        "mistake_conditioning": false,
        "render_metadata": null,
        "train_clip_normalized_actions": true,
        "clip_normalized_max": 10.0,
        "fast_clip_normalized_max": 1.0,
        "train_skip_outlier_threshold": 20.0,
        "train_max_sequence_length": 4096,
        "normalize_gripper": true,
        "action_feature_names": null,
        "state_feature_names": null
      },
      "state_file": "policy_preprocessor_step_4_perceptron_isaac_mharmony_pack.safetensors"
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}