| centered_norm: true | |
| enabled: true | |
| epsilon: 0.01 | |
| field_configs: | |
| robot__action__grippers__left::panda_hand: | |
| enabled: true | |
| epsilon: 0.01 | |
| method: percentile_1_99 | |
| scope: per_timestep | |
| robot__action__grippers__right::panda_hand: | |
| enabled: true | |
| epsilon: 0.01 | |
| method: percentile_1_99 | |
| scope: per_timestep | |
| robot__action__poses__left::panda__rot_6d_relative: | |
| enabled: true | |
| epsilon: 0.01 | |
| method: percentile_1_99 | |
| scope: per_timestep | |
| robot__action__poses__left::panda__xyz_relative: | |
| enabled: true | |
| epsilon: 0.01 | |
| method: percentile_1_99 | |
| scope: per_timestep | |
| robot__action__poses__right::panda__rot_6d_relative: | |
| enabled: true | |
| epsilon: 0.01 | |
| method: percentile_1_99 | |
| scope: per_timestep | |
| robot__action__poses__right::panda__xyz_relative: | |
| enabled: true | |
| epsilon: 0.01 | |
| method: percentile_1_99 | |
| scope: per_timestep | |
| include_fields: | |
| - robot__action__poses__left::panda__xyz_relative | |
| - robot__action__poses__right::panda__xyz_relative | |
| - robot__action__poses__left::panda__rot_6d_relative | |
| - robot__action__poses__right::panda__rot_6d_relative | |
| - robot__action__grippers__left::panda_hand | |
| - robot__action__grippers__right::panda_hand | |
| lowdim_future_timesteps: 19 | |
| lowdim_past_timesteps: 5 | |
| method: percentile_1_99 | |
| scope: per_timestep | |