"""
归一化常量 - point7_v30
从 data/each-point-V30/point7_v30/meta/stats.json 自动生成
"""
import numpy as np

# ====== 归一化统计量（从 point7_v30 数据集提取）======

# State 归一化参数 (observation.state) - 14D
STATE_MEAN = np.array([
    0.004993811870476917,
    -0.03668475890462332,
    -0.15001792557963725,
    0.02313079317844302,
    0.6102601077429641,
    -0.023200521375653305,
    0.0,
    0.2290352039759211,
    1.3048671406166559,
    -1.0789188399940317,
    0.05619807040991162,
    0.6267969706707454,
    -0.024478758549863287,
    0.05121669103070006
], dtype=np.float32)

STATE_STD = np.array([
    0.0020545029753015146,
    6.202278667684293e-05,
    0.0001807650863658067,
    8.790955357253574e-09,
    0.0014343293661670461,
    5.006272005313904e-06,
    0.0,
    0.24319274880874694,
    0.88686269489927,
    0.6611244807771219,
    0.07054404667146644,
    0.19453283681824293,
    0.07609471832766768,
    0.028602137212971713
], dtype=np.float32)

# Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D)
ACTION_MEAN = np.array([
    0.004789570208705036,
    -0.03412054037157247,
    -0.1743535372015287,
    0.017862675345229093,
    0.5069229265877009,
    -0.03110254172096121,
    -0.017799975716782625,
    0.23009325329956454,
    1.2827176885021745,
    -1.099469975583417,
    0.06121533524035614,
    0.5620871324452188,
    -0.024362386561079682,
    0.053183912527719895
], dtype=np.float32)

ACTION_STD = np.array([
    0.00568209401782079,
    1.4507081227302208e-09,
    5.799027824059091e-08,
    6.831182106166847e-09,
    0.0003836144598291957,
    8.144569008259879e-05,
    4.6014823795050706e-05,
    0.24495422468523123,
    0.8684955541171336,
    0.6642838337660345,
    0.07808039101355584,
    0.20860957229252292,
    0.07870983439964904,
    0.03507908369475162
], dtype=np.float32)

# Image 归一化参数（ImageNet 标准）
IMAGE_MEAN = np.array([0.485, 0.456, 0.406], dtype=np.float32)
IMAGE_STD = np.array([0.229, 0.224, 0.225], dtype=np.float32)