{
  "count": 7180,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 34,
  "action_dim": 7,
  "state_mean": [
    -0.006324044913432957,
    0.022928579225412977,
    -0.013273841821555978,
    -2.275540063764723,
    0.02873378815851674,
    2.3124327296666123,
    0.7402211466371652,
    0.0001398925491131447,
    1.5358957161703766e-05,
    0.0020446722105675577,
    0.03927021769015782,
    0.0032815437523955188,
    0.023148354673033965,
    0.011750379225184527,
    0.021606451930908183,
    -0.005059967664612145,
    -0.0018060100933806793,
    -0.0016973975550638916,
    -88.28822851154463,
    -10.154506510405822,
    -13.29796655955089,
    0.0833861257388066,
    0.010437835267102326,
    0.16935999942606206,
    0.20372192753598214,
    0.09092109273200787,
    0.0,
    0.0,
    0.0,
    0.9936348803030084,
    0.25041802256552287,
    0.09585549333042007,
    0.031493940333054915,
    0.15000000596046448
  ],
  "state_std": [
    0.29644114069742766,
    0.5231677131922232,
    0.26893832448276267,
    0.6429895295038951,
    0.32398737023265645,
    0.3400273265960324,
    0.37264101503607366,
    0.002482276209803401,
    0.0025168384438311745,
    0.21103515691562785,
    0.2278664789053809,
    0.21489933005684403,
    0.20862848942459106,
    0.21272929563310974,
    0.23028444102319204,
    0.23376075745581507,
    0.021535598671793825,
    0.02157366040337899,
    19.33025693974106,
    26.704868922823344,
    93.07731105095766,
    0.16569563751978067,
    0.16168353990292325,
    0.012128459967825175,
    0.09741066984960157,
    0.07734237118742454,
    1.0,
    1.0,
    1.0,
    0.003355856281397254,
    0.3094056366985495,
    0.19590827683032508,
    0.32864236444745615,
    0.0001
  ],
  "action_mean": [
    0.004544039816948051,
    0.002419552050087027,
    -0.01678203004510447,
    0.0,
    0.0,
    0.0,
    -1.0
  ],
  "action_std": [
    0.06456738003805179,
    0.07888870520273258,
    0.05898974304037685,
    0.0001,
    0.0001,
    0.0001,
    0.0001
  ],
  "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/book_orientation",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        18,
        21
      ]
    },
    {
      "path": "obs/extra/book_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        21,
        24
      ]
    },
    {
      "path": "obs/extra/distance_to_wall",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        24,
        25
      ]
    },
    {
      "path": "obs/extra/distance_to_wall_x",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        25,
        26
      ]
    },
    {
      "path": "obs/extra/is_at_wall",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        26,
        27
      ]
    },
    {
      "path": "obs/extra/is_upright",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        27,
        28
      ]
    },
    {
      "path": "obs/extra/is_wall_x_aligned",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        28,
        29
      ]
    },
    {
      "path": "obs/extra/pivot_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        29,
        30
      ]
    },
    {
      "path": "obs/extra/push_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        30,
        31
      ]
    },
    {
      "path": "obs/extra/wall_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        31,
        34
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      21
    ],
    [
      21,
      24
    ],
    [
      24,
      25
    ],
    [
      25,
      26
    ],
    [
      29,
      30
    ],
    [
      30,
      31
    ],
    [
      31,
      34
    ]
  ],
  "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)."
}