{
  "count": 4001,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 30,
  "action_dim": 7,
  "state_mean": [
    0.2574507624842547,
    -0.18451212941435807,
    -0.014955810525715629,
    -2.423629854447065,
    -0.06284728447721595,
    2.2366792509419358,
    -0.35873510337152936,
    0.030193503428023537,
    0.030163581572221564,
    0.01649196475870715,
    0.040014085288454126,
    -0.01721537208585154,
    -0.023188805087107404,
    -0.008069029129005959,
    0.060214854261405916,
    -0.16320466910308903,
    8.085654661588198e-05,
    0.00037707256375048574,
    0.14899209476199357,
    0.28455695336727876,
    -0.05309869371535213,
    0.0,
    -0.3892972536964197,
    0.07880922959745458,
    0.20788387912364176,
    0.0,
    0.0,
    0.21342096783009545,
    0.5491395860098506,
    0.6981316804885864
  ],
  "state_std": [
    0.19288248988635584,
    0.4115796793541736,
    0.31902113160338125,
    0.4388345297705562,
    0.1362272441694413,
    0.2215998198205216,
    0.8738765439918186,
    0.011473172429823849,
    0.011509496910456874,
    0.05989796222005452,
    0.17893325497864482,
    0.07705290748437517,
    0.16611997562342085,
    0.06696591035909402,
    0.12635858475842862,
    0.14907819743447265,
    0.02859172891823498,
    0.029461339714138283,
    0.2464090041121266,
    0.05503736187821105,
    0.17972399970930342,
    0.0001,
    2.615340011044232,
    0.13654315817022458,
    0.33848528728034843,
    1.0,
    1.0,
    0.3529515480966614,
    0.24640900426337653,
    0.0001
  ],
  "action_mean": [
    0.008053263915286967,
    0.00011901746154151824,
    -0.023981540506927707,
    0.0,
    0.0,
    -0.041479629165334896,
    0.16270932266933266
  ],
  "action_std": [
    0.052345972375252084,
    0.05295104158388842,
    0.0486593257944983,
    0.0001,
    0.0001,
    0.027716927293584957,
    0.9866740527228264
  ],
  "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/door_angle",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        18,
        19
      ]
    },
    {
      "path": "obs/extra/door_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        19,
        22
      ]
    },
    {
      "path": "obs/extra/door_yaw",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        22,
        23
      ]
    },
    {
      "path": "obs/extra/handle_angle",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        23,
        24
      ]
    },
    {
      "path": "obs/extra/handle_unlock_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        24,
        25
      ]
    },
    {
      "path": "obs/extra/is_door_open",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        25,
        26
      ]
    },
    {
      "path": "obs/extra/is_door_unlocked",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        26,
        27
      ]
    },
    {
      "path": "obs/extra/opening_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        27,
        28
      ]
    },
    {
      "path": "obs/extra/target_angle_error",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        28,
        29
      ]
    },
    {
      "path": "obs/extra/target_open_angle",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        29,
        30
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      19
    ],
    [
      19,
      22
    ],
    [
      22,
      23
    ],
    [
      23,
      24
    ],
    [
      24,
      25
    ],
    [
      27,
      28
    ],
    [
      28,
      29
    ],
    [
      29,
      30
    ]
  ],
  "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)."
}