{
  "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": [
          "kLeftShoulderPitch",
          "kLeftShoulderRoll",
          "kLeftShoulderYaw",
          "kLeftElbow",
          "kLeftWristRoll",
          "kLeftWristPitch",
          "kLeftWristYaw",
          "kRightShoulderPitch",
          "kRightShoulderRoll",
          "kRightShoulderYaw",
          "kRightElbow",
          "kRightWristRoll",
          "kRightWristPitch",
          "kRightWristYaw",
          "kLeftGripper",
          "kRightGripper"
        ]
      }
    },
    {
      "registry_name": "groot_pack_inputs_v3",
      "config": {
        "state_horizon": 1,
        "action_horizon": 16,
        "max_state_dim": 64,
        "max_action_dim": 32,
        "language_key": "task",
        "formalize_language": false,
        "embodiment_tag": "new_embodiment",
        "embodiment_mapping": {
          "new_embodiment": 31,
          "oxe_droid": 17,
          "agibot_genie1": 26,
          "gr1": 24,
          "so100": 2,
          "unitree_g1": 3
        },
        "normalize_min_max": true
      },
      "state_file": "policy_preprocessor_step_3_groot_pack_inputs_v3.safetensors"
    },
    {
      "registry_name": "groot_eagle_encode_v3",
      "config": {}
    },
    {
      "registry_name": "groot_eagle_collate_v3",
      "config": {}
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}