{
  "count": 26932,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "right_camera",
    "robot_camera",
    "top_camera"
  ],
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  "action_dim": 7,
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    1.0,
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    -0.0025164859390698767,
    0.0,
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  "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/block_positions",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 18,
      "slice": [
        18,
        36
      ]
    },
    {
      "path": "obs/extra/block_yaws",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        36,
        42
      ]
    },
    {
      "path": "obs/extra/distance_to_goals",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        42,
        48
      ]
    },
    {
      "path": "obs/extra/goal_positions",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 18,
      "slice": [
        48,
        66
      ]
    },
    {
      "path": "obs/extra/is_properly_stacked",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        66,
        67
      ]
    },
    {
      "path": "obs/extra/stacking_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        67,
        73
      ]
    },
    {
      "path": "obs/extra/tcp_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        73,
        76
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      36
    ],
    [
      36,
      42
    ],
    [
      42,
      48
    ],
    [
      48,
      66
    ],
    [
      67,
      73
    ],
    [
      73,
      76
    ]
  ],
  "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)."
}