{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.images.front": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.side": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.side2": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.apriltag.basket.side.x": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.y": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.z": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.R1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.R2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.R3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.R4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.R5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.R6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.R7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.R8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.R9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.H1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.H2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.H3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.H4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.H5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.H6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.H7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.H8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.H9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side.valid": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.x": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.y": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.z": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.R1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.R2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.R3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.R4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.R5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.R6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.R7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.R8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.R9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.H1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.H2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.H3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.H4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.H5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.H6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.H7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.H8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.H9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.basket.side2.valid": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.x": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.y": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.z": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.R1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.R2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.R3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.R4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.R5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.R6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.R7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.R8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.R9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.H1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.H2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.H3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.H4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.H5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.H6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.H7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.H8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.H9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side.valid": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.x": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.y": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.z": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.R1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.R2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.R3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.R4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.R5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.R6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.R7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.R8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.R9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.H1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.H2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.H3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.H4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.H5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.H6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.H7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.H8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.H9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor1.side2.valid": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.x": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.y": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.z": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.R1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.R2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.R3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.R4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.R5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.R6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.R7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.R8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.R9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.H1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.H2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.H3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.H4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.H5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.H6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.H7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.H8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.H9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side.valid": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.x": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.y": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.z": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.R1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.R2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.R3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.R4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.R5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.R6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.R7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.R8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.R9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.H1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.H2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.H3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.H4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.H5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.H6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.H7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.H8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.H9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor2.side2.valid": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.x": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.y": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.z": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.R1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.R2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.R3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.R4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.R5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.R6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.R7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.R8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.R9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.H1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.H2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.H3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.H4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.H5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.H6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.H7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.H8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.H9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side.valid": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.x": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.y": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.z": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.R1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.R2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.R3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.R4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.R5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.R6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.R7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.R8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.R9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.H1": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.H2": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.H3": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.H4": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.H5": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.H6": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.H7": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.H8": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.H9": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.anchor3.side2.valid": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.rel.x": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.rel.y": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.rel.z": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.apriltag.rel.valid": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              6
            ]
          }
        },
        "norm_map": {
          "VISUAL": "MEAN_STD",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    }
  ]
}