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  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/panda_leaphand-1/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
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      ]
    },
    {
      "path": "obs/agent/panda_leaphand-1/qvel",
      "dtype": "float32",
      "kind": "continuous",
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      "slice": [
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      ]
    },
    {
      "path": "obs/agent/panda_leaphand_left-0/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
        46,
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      ]
    },
    {
      "path": "obs/agent/panda_leaphand_left-0/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
        69,
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      ]
    },
    {
      "path": "obs/extra/both_pressed",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        92,
        93
      ]
    },
    {
      "path": "obs/extra/button1_press_step",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        93,
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      ]
    },
    {
      "path": "obs/extra/button1_qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
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      ]
    },
    {
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      "kind": "continuous",
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      "slice": [
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      ]
    },
    {
      "path": "obs/extra/button2_qpos",
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      "kind": "continuous",
      "dim": 1,
      "slice": [
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      ]
    },
    {
      "path": "obs/extra/is_button1_pressed",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
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      ]
    },
    {
      "path": "obs/extra/is_button2_pressed",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        98,
        99
      ]
    },
    {
      "path": "obs/extra/simultaneous_press",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        99,
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      ]
    }
  ],
  "state_norm_slices": [
    [
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    ],
    [
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      46
    ],
    [
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    ],
    [
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    ],
    [
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    ],
    [
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    ],
    [
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    ],
    [
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    ]
  ],
  "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)."
}