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