{
 "side": "left",
 "robot_type": "HDRB + DG-5F-M-LEFT",
 "num_episodes": 131,
 "source": "mean over all episodes of observation.state at episode start (frame_index==0)",
 "hand_dim": 20,
 "hand_init_pose": [
  -0.174693,
  0.088572,
  -0.171882,
  -0.064431,
  -0.344696,
  0.039543,
  0.383013,
  0.300303,
  -0.401026,
  0.188575,
  0.13543,
  0.108224,
  -0.372288,
  0.453359,
  0.029937,
  0.037518,
  0.000573,
  -0.427912,
  0.54842,
  0.033721
 ],
 "hand_init_pose_std": [
  0.05168,
  0.084081,
  0.097909,
  0.071661,
  0.014086,
  0.013073,
  0.122519,
  0.100168,
  0.017589,
  0.124807,
  0.097143,
  0.077889,
  0.014629,
  0.151364,
  0.020409,
  0.013375,
  0.034423,
  0.000976,
  0.175899,
  0.027172
 ],
 "active_hand_slots": [
  0,
  1,
  2,
  3,
  5,
  6,
  7,
  9,
  10,
  11,
  13,
  14,
  15,
  16,
  17,
  18,
  19
 ],
 "arm_init_pose": [
  -1.734299,
  1.679489,
  -0.113224,
  -0.657517,
  -1.625038,
  -0.202079
 ],
 "note": "Full 20-slot hand vector (gripper_joint). active_hand_slots indexes the controlled DOF (matches the hand part of action_indices.json). arm_init_pose is the 6 arm joints at episode start."
}