Use standard LeRobot normalization processors

policy_postprocessor.json

@@ -5,6 +5,25 @@
       "registry_name": "being_h05_semantic_unpack",
       "config": {}
     },
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              12
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "IDENTITY",
+          "ACTION": "IDENTITY"
+        }
+      }
+    },
     {
       "registry_name": "device_processor",
       "config": {
@@ -13,4 +32,4 @@
       }
     }
   ]
-}
+}

policy_preprocessor.json

@@ -5,6 +5,79 @@
       "registry_name": "to_batch_processor",
       "config": {}
     },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.robot0_agentview_left": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              224,
+              224
+            ]
+          },
+          "observation.images.robot0_agentview_right": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              224,
+              224
+            ]
+          },
+          "observation.images.robot0_eye_in_hand": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              224,
+              224
+            ]
+          },
+          "observation.state.eef_position": {
+            "type": "STATE",
+            "shape": [
+              3
+            ]
+          },
+          "observation.state.eef_rotation": {
+            "type": "STATE",
+            "shape": [
+              3
+            ]
+          },
+          "observation.state.gripper_qpos": {
+            "type": "STATE",
+            "shape": [
+              2
+            ]
+          },
+          "observation.state.base_position": {
+            "type": "STATE",
+            "shape": [
+              3
+            ]
+          },
+          "observation.state.base_rotation": {
+            "type": "STATE",
+            "shape": [
+              3
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              12
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "IDENTITY",
+          "ACTION": "IDENTITY"
+        }
+      }
+    },
     {
       "registry_name": "being_h05_semantic_pack",
       "config": {
@@ -69,4 +142,4 @@
       }
     }
   ]
-}
+}