{
  "version": 2,
  "source": "observation.state; actual recorded state, not action",
  "right_joint_indices_zero_based": [
    15,
    16,
    17,
    18,
    19,
    20,
    21
  ],
  "right_gripper_index_zero_based": 29,
  "joint_units": "rad",
  "joint_weights": "equal; no coordinate normalization",
  "episode_scope": "each atomic skill episode separately; chronological frame_index",
  "path_formula": "L_t=sum(k=1..t, ||q_k-q_(k-1)||_2); progress_arm_path=L_t/L_end",
  "event_skills": [
    "grasp",
    "place",
    "stack"
  ],
  "event_rule": "exactly one binary switch; event=0 before switch, 1 from switch frame",
  "combination": "grasp/place/stack: progress_method=0.8*progress_arm_method+0.2*event; other skills: progress_method=progress_arm_method",
  "no_event_rule": "constant gripper; gripper_event_complete=0; arm weight=1",
  "degenerate_threshold_rad": 0.01,
  "degenerate_policy": "reject total cumulative path below threshold; no silent time fallback",
  "smoothing": "none; cumulative progress is nondecreasing by construction",
  "computation_dtype": "float64",
  "frame_fields": {
    "progress_arm_path": "float32",
    "gripper_event_complete": "int64",
    "progress_path": "float32"
  },
  "observation_state": "original 30-dimensional state preserved; labels are independent columns",
  "training_target": "progress_path"
}