{
  "count": 3235,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera_0",
    "robot_camera_1",
    "top_camera"
  ],
  "state_dim": 39,
  "action_dim": 14,
  "state_mean": [
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    0.0365971077219807,
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    0.08054273538418336,
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    -2.036182768120095,
    -0.05021963724834965,
    2.414085222948832,
    0.7455629462344571,
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    0.021604162259643175,
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  "state_std": [
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    0.1981655660309009,
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    0.019600188571923235,
    0.019599887092012783,
    0.09374379217309142,
    0.2547609155627533,
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    0.15778941471120372,
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    0.15492059710339867,
    0.14206198096939665,
    0.038799889066593284,
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    0.06132056439448602,
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    0.23134909685481303,
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  "action_mean": [
    0.0164261464565025,
    -0.022483864256110295,
    -0.03935407022420184,
    0.0,
    0.0,
    0.0,
    0.09057187017001546,
    0.03004687858581359,
    0.026504595074252055,
    -0.039082500880938224,
    0.0,
    0.0,
    0.0,
    0.09057187017001546
  ],
  "action_std": [
    0.09848880395310154,
    0.07162397277729025,
    0.09819801604428928,
    0.0001,
    0.0001,
    0.0001,
    0.9958899268161645,
    0.08555453465211685,
    0.0713714775720616,
    0.0982457646146658,
    0.0001,
    0.0001,
    0.0001,
    0.9958899268161645
  ],
  "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/angle_err_deg",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        36,
        37
      ]
    },
    {
      "path": "obs/extra/cover_ratio",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        37,
        38
      ]
    },
    {
      "path": "obs/extra/settled_on_table",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        38,
        39
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      27
    ],
    [
      27,
      36
    ],
    [
      36,
      37
    ],
    [
      37,
      38
    ]
  ],
  "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)."
}