{
  "count": 6964,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "right_camera",
    "robot_camera_0",
    "robot_camera_1",
    "top_camera"
  ],
  "state_dim": 49,
  "action_dim": 14,
  "state_mean": [
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    0.0,
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    -0.0006559835202169632,
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    -0.013805692930936402,
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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/box_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        36,
        39
      ]
    },
    {
      "path": "obs/extra/box_quat",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 4,
      "slice": [
        39,
        43
      ]
    },
    {
      "path": "obs/extra/box_yaw_cos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        43,
        44
      ]
    },
    {
      "path": "obs/extra/box_yaw_sin",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        44,
        45
      ]
    },
    {
      "path": "obs/extra/left_door_angle",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        45,
        46
      ]
    },
    {
      "path": "obs/extra/left_door_closed",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        46,
        47
      ]
    },
    {
      "path": "obs/extra/right_door_angle",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        47,
        48
      ]
    },
    {
      "path": "obs/extra/right_door_closed",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        48,
        49
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      27
    ],
    [
      27,
      36
    ],
    [
      36,
      39
    ],
    [
      39,
      43
    ],
    [
      43,
      44
    ],
    [
      44,
      45
    ],
    [
      45,
      46
    ],
    [
      47,
      48
    ]
  ],
  "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)."
}