diff --git a/buttonpress/preprocess/norm_stats.json b/buttonpress/preprocess/norm_stats.json
deleted file mode 100644
index 604b15e5fd9aa9c9eea4e0764702618882336bf1..0000000000000000000000000000000000000000
--- a/buttonpress/preprocess/norm_stats.json
+++ /dev/null
@@ -1,297 +0,0 @@
-{
-  "count": 2060,
-  "target_image_size": [
-    192,
-    256
-  ],
-  "cameras": [
-    "front_camera",
-    "left_camera",
-    "robot_camera_0",
-    "robot_camera_1",
-    "top_camera"
-  ],
-  "camera_rotations": {
-    "front_camera": "none",
-    "left_camera": "none",
-    "robot_camera_0": "none",
-    "robot_camera_1": "none",
-    "top_camera": "none"
-  },
-  "state_dim": 44,
-  "action_dim": 14,
-  "state_mean": [
-    -0.10321813593528152,
-    0.16458593773275834,
-    -0.17380442340198218,
-    -2.1162418451702707,
-    0.08582179964657363,
-    2.309310099222128,
-    0.45273136598537267,
-    0.0004765791882817617,
-    0.0006638187686543779,
-    -0.028411021133020433,
-    0.21143003463614007,
-    -0.012968140895775575,
-    0.04596645408952824,
-    0.03591080437916884,
-    0.18573241113330172,
-    -0.06791541249642728,
-    -0.005850521547083987,
-    -0.006400418147265304,
-    -0.018890754195817816,
-    0.11476065246836882,
-    -0.04164284217117402,
-    -2.1935097767311396,
-    0.018410153477191323,
-    2.3408305783873624,
-    0.7122333599381075,
-    0.000548094677851562,
-    0.0005901176951263694,
-    -0.005515914437290416,
-    0.20219949866437076,
-    -0.0027483671578125914,
-    0.030310766811448644,
-    0.008241961758727325,
-    0.19484595987692618,
-    -0.014548757055145755,
-    -0.006107447853383841,
-    -0.006224797941408763,
-    0.0,
-    0.0,
-    0.0056119204972894954,
-    0.0,
-    0.005549748665934318,
-    0.0,
-    0.0,
-    0.0
-  ],
-  "state_std": [
-    0.07959771007623168,
-    0.48231877429802145,
-    0.07458113908320278,
-    0.1964682216675876,
-    0.12089845434658113,
-    0.36125554507030083,
-    0.18030137891950665,
-    0.004449567734954491,
-    0.004422082682616074,
-    0.024929278218138104,
-    0.14508665041745455,
-    0.07170661750830379,
-    0.09834773819936847,
-    0.05351564330750548,
-    0.06719448146615883,
-    0.056715470492511244,
-    0.039437437331655945,
-    0.03938775824408728,
-    0.04174566381115425,
-    0.4569930012244739,
-    0.10192357564497313,
-    0.14268202028572957,
-    0.07952220329243001,
-    0.38411298628542767,
-    0.16995570067636998,
-    0.004437241314397371,
-    0.0044310193897278945,
-    0.022430234121673148,
-    0.12835525806049078,
-    0.05090177788133853,
-    0.07694372330624442,
-    0.040304202939117455,
-    0.0597234693040246,
-    0.049017569975648954,
-    0.0393575706763837,
-    0.0393465361327714,
-    1.0,
-    1.0,
-    0.008458750845129481,
-    1.0,
-    0.00836728980336536,
-    1.0,
-    1.0,
-    1.0
-  ],
-  "action_mean": [
-    0.037919402925424214,
-    -0.028469978330783477,
-    -0.09967862228022038,
-    0.0,
-    0.0,
-    0.0,
-    -1.0,
-    0.03729788374915284,
-    -0.005654223624942372,
-    -0.09962428660647382,
-    0.0,
-    0.0,
-    0.0,
-    -1.0
-  ],
-  "action_std": [
-    0.0576934449231336,
-    0.04803189928744806,
-    0.003087110569005852,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.058347206739213835,
-    0.03335912669365495,
-    0.0033969482181999216,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001
-  ],
-  "state_norm_policy": "continuous_only",
-  "state_fields": [
-    {
-      "path": "obs/agent/panda-0/qpos",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 9,
-      "slice": [
-        0,
-        9
-      ]
-    },
-    {
-      "path": "obs/agent/panda-0/qvel",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 9,
-      "slice": [
-        9,
-        18
-      ]
-    },
-    {
-      "path": "obs/agent/panda-1/qpos",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 9,
-      "slice": [
-        18,
-        27
-      ]
-    },
-    {
-      "path": "obs/agent/panda-1/qvel",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 9,
-      "slice": [
-        27,
-        36
-      ]
-    },
-    {
-      "path": "obs/extra/both_pressed",
-      "dtype": "bool",
-      "kind": "bool",
-      "dim": 1,
-      "slice": [
-        36,
-        37
-      ]
-    },
-    {
-      "path": "obs/extra/button1_press_step",
-      "dtype": "int64",
-      "kind": "discrete",
-      "dim": 1,
-      "slice": [
-        37,
-        38
-      ]
-    },
-    {
-      "path": "obs/extra/button1_qpos",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 1,
-      "slice": [
-        38,
-        39
-      ]
-    },
-    {
-      "path": "obs/extra/button2_press_step",
-      "dtype": "int64",
-      "kind": "discrete",
-      "dim": 1,
-      "slice": [
-        39,
-        40
-      ]
-    },
-    {
-      "path": "obs/extra/button2_qpos",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 1,
-      "slice": [
-        40,
-        41
-      ]
-    },
-    {
-      "path": "obs/extra/is_button1_pressed",
-      "dtype": "bool",
-      "kind": "bool",
-      "dim": 1,
-      "slice": [
-        41,
-        42
-      ]
-    },
-    {
-      "path": "obs/extra/is_button2_pressed",
-      "dtype": "bool",
-      "kind": "bool",
-      "dim": 1,
-      "slice": [
-        42,
-        43
-      ]
-    },
-    {
-      "path": "obs/extra/simultaneous_press",
-      "dtype": "bool",
-      "kind": "bool",
-      "dim": 1,
-      "slice": [
-        43,
-        44
-      ]
-    }
-  ],
-  "state_norm_slices": [
-    [
-      0,
-      9
-    ],
-    [
-      9,
-      18
-    ],
-    [
-      18,
-      27
-    ],
-    [
-      27,
-      36
-    ],
-    [
-      38,
-      39
-    ],
-    [
-      40,
-      41
-    ]
-  ],
-  "notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). All stats computed over aligned length T (drop last obs to align with actions)."
-}
\ No newline at end of file
diff --git a/buttonpress/preprocess/traj_0.h5 b/buttonpress/preprocess/traj_0.h5
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-{
-    "env_info": {
-        "env_id": "DualArmButtonPress-v1",
-        "env_kwargs": {
-            "num_envs": 1,
-            "obs_mode": "rgbd",
-            "reward_mode": "dense",
-            "control_mode": "pd_ee_delta_pose",
-            "enable_shadow": true,
-            "show_world_frame": false,
-            "show_fps": false,
-            "show_viewer": false,
-            "device": "cuda:0",
-            "front_camera": true,
-            "back_camera": false,
-            "left_camera": true,
-            "right_camera": false,
-            "top_camera": true,
-            "robot_camera": true,
-            "custome_viewer_res": true,
-            "viewer_res": [
-                320,
-                240
-            ]
-        }
-    },
-    "episodes": [
-        {
-            "episode_id": "traj_0",
-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_1",
-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_2",
-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_3",
-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_4",
-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_5",
-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_6",
-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_7",
-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_8",
-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_9",
-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_10",
-            "elapsed_steps": 103
-        },
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-            "elapsed_steps": 103
-        },
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-            "elapsed_steps": 103
-        },
-        {
-            "episode_id": "traj_19",
-            "elapsed_steps": 103
-        }
-    ]
-}
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