{
  "count": 2060,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera_0",
    "robot_camera_1",
    "top_camera"
  ],
  "state_dim": 44,
  "action_dim": 14,
  "state_mean": [
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    -0.00581626567963447,
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    -2.183258720509057,
    0.026061819610849944,
    2.337322497252122,
    0.6792484312092216,
    0.0005394583488212596,
    0.0005987955122678377,
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    0.20355492351057905,
    -0.002504318500836482,
    0.032508624501736104,
    0.012368019058191654,
    0.1938149029208184,
    -0.02218604786328232,
    -0.0060752049359869545,
    -0.006242858388139452,
    0.0,
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    0.0,
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    0.0,
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    0.0
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  "state_std": [
    0.09318826907311883,
    0.4960628639574676,
    0.08347784300810443,
    0.23625508768542963,
    0.1303466969358216,
    0.35526151988958915,
    0.20717876676436894,
    0.004451123193841646,
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    0.026190901761522414,
    0.1508018900318461,
    0.07400107580818535,
    0.10960302840552161,
    0.05647784547719655,
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    1.0,
    1.0,
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    1.0,
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    1.0,
    1.0,
    1.0
  ],
  "action_mean": [
    0.0377992574469123,
    -0.033861360348646924,
    -0.09967924304378842,
    0.0,
    0.0,
    0.0,
    -1.0,
    0.03729461423546365,
    -0.00798446505321461,
    -0.09963503413408706,
    0.0,
    0.0,
    0.0,
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  ],
  "action_std": [
    0.057245052975361574,
    0.05070179092470364,
    0.0031030343246418292,
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    0.0001,
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    0.05831639188332318,
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  ],
  "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)."
}