{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "disassemble_vector",
      "config": {
        "mode": "observation.state",
        "hf_topics": [
          "observation.state.right_arm_pose",
          "observation.state.left_arm_pose",
          "observation.state.right_gripper",
          "observation.state.left_gripper",
          "observation.state.right_arm_joints",
          "observation.state.left_arm_joints"
        ],
        "dims": [
          7,
          7,
          1,
          1,
          7,
          7
        ]
      }
    },
    {
      "registry_name": "disassemble_vector",
      "config": {
        "mode": "action",
        "hf_topics": [
          "action.right_arm.gripper.target_aperture",
          "action.left_arm.gripper.target_aperture",
          "action.right_arm.target_pose",
          "action.left_arm.target_pose"
        ],
        "dims": [
          1,
          1,
          7,
          7
        ]
      }
    },
    {
      "registry_name": "filter_topics",
      "config": {
        "observation_state_topics": [
          "observation.state.right_arm_pose",
          "observation.state.left_arm_pose",
          "observation.state.right_gripper",
          "observation.state.left_gripper",
          "observation.state.right_arm_joints",
          "observation.state.left_arm_joints"
        ],
        "observation_images_topics": [
          "observation.images.head.cam_1.color.image_raw",
          "observation.images.left_arm.cam_1.image_color",
          "observation.images.right_arm.cam_1.image_color"
        ],
        "action_topics": [
          "action.right_arm.gripper.target_aperture",
          "action.left_arm.gripper.target_aperture",
          "action.right_arm.target_pose",
          "action.left_arm.target_pose"
        ]
      }
    },
    {
      "registry_name": "quaternion_to_6d",
      "config": {
        "apply_to_topics": [
          "action.left_arm.target_pose",
          "action.right_arm.target_pose"
        ]
      }
    },
    {
      "registry_name": "quaternion_to_6d",
      "config": {
        "apply_to_topics": [
          "observation.state.left_arm_pose",
          "observation.state.right_arm_pose"
        ]
      }
    },
    {
      "registry_name": "assemble_vector",
      "config": {
        "mode": "observation.state",
        "hf_topics": [
          "observation.state.right_arm_pose",
          "observation.state.left_arm_pose",
          "observation.state.right_gripper",
          "observation.state.left_gripper",
          "observation.state.right_arm_joints",
          "observation.state.left_arm_joints"
        ],
        "dims": [
          9,
          9,
          1,
          1,
          7,
          7
        ]
      }
    },
    {
      "registry_name": "assemble_vector",
      "config": {
        "mode": "action",
        "hf_topics": [
          "action.right_arm.gripper.target_aperture",
          "action.left_arm.gripper.target_aperture",
          "action.right_arm.target_pose",
          "action.left_arm.target_pose"
        ],
        "dims": [
          1,
          1,
          9,
          9
        ]
      }
    },
    {
      "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.images.head.cam_1.color.image_raw": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.left_arm.cam_1.image_color": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.right_arm.cam_1.image_color": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              34
            ]
          },
          "action.right_arm.gripper.target_aperture": {
            "type": "ACTION",
            "shape": [
              1
            ]
          },
          "action.left_arm.gripper.target_aperture": {
            "type": "ACTION",
            "shape": [
              1
            ]
          },
          "action.right_arm.target_pose": {
            "type": "ACTION",
            "shape": [
              7
            ]
          },
          "action.left_arm.target_pose": {
            "type": "ACTION",
            "shape": [
              7
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              20
            ]
          }
        },
        "norm_map": {
          "ACTION": "MEAN_STD",
          "STATE": "MEAN_STD",
          "VISUAL": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_10_normalizer_processor.safetensors"
    }
  ]
}