{
  "name": "policy_preprocessor",
  "steps": [
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      "config": {
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              "left_arm": null,
              "right_arm": null
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          "right_arm.joints.3",
          "right_arm.joints.4",
          "right_arm.joints.5",
          "right_arm.joints.6",
          "left_arm.joints.0",
          "left_arm.joints.1",
          "left_arm.joints.2",
          "left_arm.joints.3",
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          "left_arm.pose.z",
          "left_arm.pose.qx",
          "left_arm.pose.qy",
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        ]
      }
    },
    {
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      "config": {
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        "exclude_joints": [],
        "action_names": null,
        "relative_action_blocks": [
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            "action_len": 9
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    },
    {
      "registry_name": "rename_observations_processor",
      "config": {
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    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "device_processor",
      "config": {
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        "float_dtype": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
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            "shape": [
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            ]
          },
          "observation.images.right_arm.cam_1.image_color": {
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            ]
          },
          "observation.images.left_arm.cam_1.image_color": {
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            ]
          },
          "observation.images.head.cam_1.color.image_raw": {
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            ]
          },
          "action": {
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          }
        },
        "norm_map": {
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          "STATE": "MEAN_STD",
          "VISUAL": "IDENTITY"
        }
      },
      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
    }
  ]
}