{
  "count": 12434,
  "target_image_size": [
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  ],
  "cameras": [
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    "left_camera",
    "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/door_angle",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        46,
        47
      ]
    },
    {
      "path": "obs/extra/door_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        47,
        50
      ]
    },
    {
      "path": "obs/extra/handle_angle",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        50,
        51
      ]
    },
    {
      "path": "obs/extra/handle_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        51,
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      ]
    },
    {
      "path": "obs/extra/is_door_open",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        52,
        53
      ]
    },
    {
      "path": "obs/extra/is_handle_unlocked",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        53,
        54
      ]
    },
    {
      "path": "obs/extra/is_latch_unlocked",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        54,
        55
      ]
    },
    {
      "path": "obs/extra/latch_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        55,
        56
      ]
    },
    {
      "path": "obs/extra/latch_slide",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        56,
        57
      ]
    },
    {
      "path": "obs/extra/opening_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        57,
        58
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      23
    ],
    [
      23,
      46
    ],
    [
      46,
      47
    ],
    [
      47,
      50
    ],
    [
      50,
      51
    ],
    [
      51,
      52
    ],
    [
      52,
      53
    ],
    [
      53,
      54
    ],
    [
      54,
      55
    ],
    [
      55,
      56
    ],
    [
      56,
      57
    ],
    [
      57,
      58
    ]
  ],
  "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)."
}