{
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    "robot_camera",
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  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
        0,
        23
      ]
    },
    {
      "path": "obs/agent/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
        23,
        46
      ]
    },
    {
      "path": "obs/extra/basket_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        46,
        49
      ]
    },
    {
      "path": "obs/extra/chips_can_basket_dist",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        49,
        50
      ]
    },
    {
      "path": "obs/extra/chips_can_height",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        50,
        51
      ]
    },
    {
      "path": "obs/extra/chips_can_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        51,
        54
      ]
    },
    {
      "path": "obs/extra/grasp_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        54,
        55
      ]
    },
    {
      "path": "obs/extra/is_grasped",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        55,
        56
      ]
    },
    {
      "path": "obs/extra/is_lifted",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        56,
        57
      ]
    },
    {
      "path": "obs/extra/lift_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        57,
        58
      ]
    },
    {
      "path": "obs/extra/palm_chips_can_dist",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        58,
        59
      ]
    },
    {
      "path": "obs/extra/palm_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        59,
        62
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      23
    ],
    [
      23,
      46
    ],
    [
      46,
      49
    ],
    [
      49,
      50
    ],
    [
      50,
      51
    ],
    [
      51,
      54
    ],
    [
      54,
      55
    ],
    [
      57,
      58
    ],
    [
      58,
      59
    ],
    [
      59,
      62
    ]
  ],
  "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)."
}