{
  "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": [
          "ee.x",
          "ee.y",
          "ee.z",
          "ee.qx",
          "ee.qy",
          "ee.qz",
          "ee.qw",
          "ee.gripper"
        ]
      }
    },
    {
      "registry_name": "relative_ee_actions",
      "config": {
        "enabled": true,
        "state_frame": -1,
        "rot_repr": "rot6d"
      }
    },
    {
      "registry_name": "ee_state",
      "config": {
        "enabled": true,
        "rot_repr": "rot6d"
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.top": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.side": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              10
            ]
          },
          "observation.images.top_padding_mask": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.images.wrist_padding_mask": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.images.side_padding_mask": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              10
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
    },
    {
      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
      "config": {
        "max_state_dim": 32,
        "task_key": "task",
        "include_state_in_prompt": true
      }
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 200,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "tokenizer"
      },
      "artifacts": {
        "tokenizer_name": "tokenizer"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}