{
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  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/mobile_panda-0/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        0,
        12
      ]
    },
    {
      "path": "obs/agent/mobile_panda-0/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        12,
        24
      ]
    },
    {
      "path": "obs/agent/mobile_panda-1/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        24,
        36
      ]
    },
    {
      "path": "obs/agent/mobile_panda-1/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        36,
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      ]
    },
    {
      "path": "obs/extra/ball_positions",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        48,
        54
      ]
    },
    {
      "path": "obs/extra/ball_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        54,
        56
      ]
    },
    {
      "path": "obs/extra/ball_velocities",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        56,
        62
      ]
    },
    {
      "path": "obs/extra/bridge_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        62,
        65
      ]
    },
    {
      "path": "obs/extra/cue_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        65,
        68
      ]
    },
    {
      "path": "obs/extra/robot1_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        68,
        71
      ]
    },
    {
      "path": "obs/extra/robot2_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        71,
        74
      ]
    },
    {
      "path": "obs/extra/table_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        74,
        77
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      12
    ],
    [
      12,
      24
    ],
    [
      24,
      36
    ],
    [
      36,
      48
    ],
    [
      48,
      54
    ],
    [
      54,
      56
    ],
    [
      56,
      62
    ],
    [
      62,
      65
    ],
    [
      65,
      68
    ],
    [
      68,
      71
    ],
    [
      71,
      74
    ],
    [
      74,
      77
    ]
  ],
  "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)."
}