{
  "count": 6319,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 36,
  "action_dim": 7,
  "state_mean": [
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    0.05200339308224507,
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    0.0,
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    0.0,
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    0.08502658113496496,
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    1.0,
    1.0,
    1.0,
    1.0,
    1.1641477287253694,
    0.12336362851763134,
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    0.2841087170264726,
    0.5880255721280365
  ],
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    0.0049490492916509,
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  ],
  "action_std": [
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    0.10087909888261044,
    0.5905165549701541,
    0.023251336935234457,
    0.11430961702036445,
    0.048262839994011694,
    0.9860177601613861
  ],
  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 9,
      "slice": [
        0,
        9
      ]
    },
    {
      "path": "obs/agent/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 9,
      "slice": [
        9,
        18
      ]
    },
    {
      "path": "obs/extra/egg_angular_speed",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        18,
        19
      ]
    },
    {
      "path": "obs/extra/egg_height",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        19,
        20
      ]
    },
    {
      "path": "obs/extra/egg_linear_speed",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        20,
        21
      ]
    },
    {
      "path": "obs/extra/egg_to_pan_distance",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        21,
        22
      ]
    },
    {
      "path": "obs/extra/egg_to_pan_xy_distance",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        22,
        23
      ]
    },
    {
      "path": "obs/extra/egg_to_pan_z_distance",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        23,
        24
      ]
    },
    {
      "path": "obs/extra/gripper_closing_axis_yaw",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        24,
        25
      ]
    },
    {
      "path": "obs/extra/gripper_yaw_error",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        25,
        26
      ]
    },
    {
      "path": "obs/extra/is_egg_flipped",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        26,
        27
      ]
    },
    {
      "path": "obs/extra/is_egg_in_pan",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        27,
        28
      ]
    },
    {
      "path": "obs/extra/is_egg_still",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        28,
        29
      ]
    },
    {
      "path": "obs/extra/is_pan_on_stove",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        29,
        30
      ]
    },
    {
      "path": "obs/extra/is_success",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        30,
        31
      ]
    },
    {
      "path": "obs/extra/pan_angular_velocity",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        31,
        32
      ]
    },
    {
      "path": "obs/extra/pan_to_stove_xy_distance",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        32,
        33
      ]
    },
    {
      "path": "obs/extra/pan_to_stove_z_distance",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        33,
        34
      ]
    },
    {
      "path": "obs/extra/pan_yaw",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        34,
        35
      ]
    },
    {
      "path": "obs/extra/stove_yaw",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        35,
        36
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      19
    ],
    [
      19,
      20
    ],
    [
      20,
      21
    ],
    [
      21,
      22
    ],
    [
      22,
      23
    ],
    [
      23,
      24
    ],
    [
      24,
      25
    ],
    [
      25,
      26
    ],
    [
      31,
      32
    ],
    [
      32,
      33
    ],
    [
      33,
      34
    ],
    [
      34,
      35
    ],
    [
      35,
      36
    ]
  ],
  "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)."
}