{
  "schema": "droid-native-to-oxt-arrays-v1",
  "source_h5": "/mnt/ssd1/data/tianqi/ft/franka_ft_oxt/native/wipe_board/Mon_Oct_12_19-18-09_2026/trajectory.h5",
  "original_control_rows": 469,
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  ],
  "timestamp_origin_unix_ns": 1791832690326039198,
  "timestamp_semantics": "Host control step_start Unix nanoseconds; relative seconds subtract original episode first row before float conversion. No clock correction or resampling.",
  "pose_semantics": {
    "representation": "xyz metres + rotation vector radians (scipy Euler xyz conversion)",
    "right_wrist_pose_status": "omitted: native EEF/flange has no verified transform to the FTP-1 gripper frame (relative to wrist camera: z forward, x down, y left)",
    "native_state_pose": "native__observation__robot_state__cartesian_position retains original xyz metres + Euler xyz radians at the robot-model EEF/flange; local FR3 configuration names panda_link8",
    "canonical_wrist_transform_status": "not established; right_wrist_pose is omitted and right_arm_joints is provided",
    "action_eef_pose": "original requested EEF target before IK; distinct from future observed state and not FK of the joint target",
    "offset_fields": "already recorded original EEF local +Z 0.063 m point; orientation unchanged; not full Robotiq TCP"
  },
  "action_semantics": "Real original DROID joint and EEF targets are retained. command_dispatched=false indicates a hypothetical hold, not a sent command; true does not prove asynchronous acceptance.",
  "hand_semantics": "Single normalized gripper opening = 1 - native observation/robot_state/gripper_position closure, 0=closed and 1=open, joint index 28 (gripper distance); dimensionless, not metres. Native closure and action fields remain unchanged.",
  "ft_semantics": {
    "sensor": "SRIM3813A1",
    "channels": [
      "Fx",
      "Fy",
      "Fz",
      "Mx",
      "My",
      "Mz"
    ],
    "units": [
      "N",
      "N",
      "N",
      "Nm",
      "Nm",
      "Nm"
    ],
    "units_source": "assumed from device stored calibration",
    "frame": "sensor native measurement frame; sensor-to-EEF transform unavailable",
    "standard_tactile_group": "Only recorded Mx, My, Mz in wrist_torque; area 15. No inferred force magnitude or force-axis reduction.",
    "software_bias_subtraction": false,
    "software_gravity_compensation": false,
    "alignment": "Original latest-persisted per-control snapshot, selected without interpolation; native sample_index identifies full sidecar row.",
    "high_rate_sidecar": "Must also preserve original ft_sensor.h5 independently; these row-aligned arrays do not contain all high-rate samples."
  },
  "supplementary_tactile_note": {
    "SRIM3813A1_native_wrench": {
      "type": "state",
      "shape": [
        6
      ],
      "sensor_num": 1,
      "sensor_dimension": 6,
      "array_key": "supplementary_tactile",
      "sensor_description": "One device-calibrated six-axis native sensor-frame wrench, flattened as Fx,Fy,Fz,Mx,My,Mz in N,N,N,Nm,Nm,Nm; no software compensation or coordinate transform.",
      "sensor_idx_description": {
        "sensor_idx_0": "All six columns belong to the same SRI M3813A1 wrist-mounted sensor."
      }
    }
  },
  "native_fields": {
    "native__action__cartesian_position": {
      "source_path": "action/cartesian_position",
      "source_dtype": "float64"
    },
    "native__action__cartesian_position_with_ft_offset": {
      "source_path": "action/cartesian_position_with_ft_offset",
      "source_dtype": "float64"
    },
    "native__action__cartesian_velocity": {
      "source_path": "action/cartesian_velocity",
      "source_dtype": "float64"
    },
    "native__action__command_dispatched": {
      "source_path": "action/command_dispatched",
      "source_dtype": "bool"
    },
    "native__action__controller_metadata_json": {
      "source_path": "action/controller_metadata_json",
      "source_dtype": "object"
    },
    "native__action__controller_target_valid": {
      "source_path": "action/controller_target_valid",
      "source_dtype": "bool"
    },
    "native__action__gripper_position": {
      "source_path": "action/gripper_position",
      "source_dtype": "float64"
    },
    "native__action__gripper_velocity": {
      "source_path": "action/gripper_velocity",
      "source_dtype": "float64"
    },
    "native__action__input_action": {
      "source_path": "action/input_action",
      "source_dtype": "float64"
    },
    "native__action__joint_position": {
      "source_path": "action/joint_position",
      "source_dtype": "float64"
    },
    "native__action__joint_velocity": {
      "source_path": "action/joint_velocity",
      "source_dtype": "float64"
    },
    "native__action__robot_state__cartesian_position": {
      "source_path": "action/robot_state/cartesian_position",
      "source_dtype": "float64"
    },
    "native__action__robot_state__gripper_position": {
      "source_path": "action/robot_state/gripper_position",
      "source_dtype": "float64"
    },
    "native__action__robot_state__joint_positions": {
      "source_path": "action/robot_state/joint_positions",
      "source_dtype": "float64"
    },
    "native__action__robot_state__joint_torques_computed": {
      "source_path": "action/robot_state/joint_torques_computed",
      "source_dtype": "float64"
    },
    "native__action__robot_state__joint_velocities": {
      "source_path": "action/robot_state/joint_velocities",
      "source_dtype": "float64"
    },
    "native__action__robot_state__motor_torques_measured": {
      "source_path": "action/robot_state/motor_torques_measured",
      "source_dtype": "float64"
    },
    "native__action__robot_state__prev_command_successful": {
      "source_path": "action/robot_state/prev_command_successful",
      "source_dtype": "bool"
    },
    "native__action__robot_state__prev_controller_latency_ms": {
      "source_path": "action/robot_state/prev_controller_latency_ms",
      "source_dtype": "float64"
    },
    "native__action__robot_state__prev_joint_torques_computed": {
      "source_path": "action/robot_state/prev_joint_torques_computed",
      "source_dtype": "float64"
    },
    "native__action__robot_state__prev_joint_torques_computed_safened": {
      "source_path": "action/robot_state/prev_joint_torques_computed_safened",
      "source_dtype": "float64"
    },
    "native__action__target_cartesian_position": {
      "source_path": "action/target_cartesian_position",
      "source_dtype": "float64"
    },
    "native__action__target_gripper_position": {
      "source_path": "action/target_gripper_position",
      "source_dtype": "float64"
    },
    "native__observation__camera_distortion_coefficients__16478870_left": {
      "source_path": "observation/camera_distortion_coefficients/16478870_left",
      "source_dtype": "float64"
    },
    "native__observation__camera_distortion_coefficients__16478870_right": {
      "source_path": "observation/camera_distortion_coefficients/16478870_right",
      "source_dtype": "float64"
    },
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      "source_path": "observation/camera_distortion_coefficients/36087771_left",
      "source_dtype": "float64"
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    "native__observation__camera_distortion_coefficients__36087771_right": {
      "source_path": "observation/camera_distortion_coefficients/36087771_right",
      "source_dtype": "float64"
    },
    "native__observation__camera_extrinsics__16478870_left": {
      "source_path": "observation/camera_extrinsics/16478870_left",
      "source_dtype": "float64"
    },
    "native__observation__camera_extrinsics__16478870_left_gripper_offset": {
      "source_path": "observation/camera_extrinsics/16478870_left_gripper_offset",
      "source_dtype": "float64"
    },
    "native__observation__camera_extrinsics__16478870_right": {
      "source_path": "observation/camera_extrinsics/16478870_right",
      "source_dtype": "float64"
    },
    "native__observation__camera_extrinsics__16478870_right_gripper_offset": {
      "source_path": "observation/camera_extrinsics/16478870_right_gripper_offset",
      "source_dtype": "float64"
    },
    "native__observation__camera_extrinsics__19824535_left": {
      "source_path": "observation/camera_extrinsics/19824535_left",
      "source_dtype": "float64"
    },
    "native__observation__camera_extrinsics__19824535_right": {
      "source_path": "observation/camera_extrinsics/19824535_right",
      "source_dtype": "float64"
    },
    "native__observation__camera_extrinsics__23404442_left": {
      "source_path": "observation/camera_extrinsics/23404442_left",
      "source_dtype": "float64"
    },
    "native__observation__camera_extrinsics__23404442_right": {
      "source_path": "observation/camera_extrinsics/23404442_right",
      "source_dtype": "float64"
    },
    "native__observation__camera_extrinsics__26405488_left": {
      "source_path": "observation/camera_extrinsics/26405488_left",
      "source_dtype": "float64"
    },
    "native__observation__camera_extrinsics__26405488_right": {
      "source_path": "observation/camera_extrinsics/26405488_right",
      "source_dtype": "float64"
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      "source_path": "observation/camera_extrinsics/29838012_left",
      "source_dtype": "float64"
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      "source_path": "observation/camera_extrinsics/29838012_right",
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      "source_path": "observation/camera_extrinsics/36087771_left",
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      "source_path": "observation/camera_extrinsics/36087771_right",
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      "source_path": "observation/camera_intrinsics/16478870_left",
      "source_dtype": "float64"
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      "source_path": "observation/camera_intrinsics/16478870_right",
      "source_dtype": "float64"
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    "native__observation__camera_intrinsics__36087771_left": {
      "source_path": "observation/camera_intrinsics/36087771_left",
      "source_dtype": "float64"
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    "native__observation__camera_intrinsics__36087771_right": {
      "source_path": "observation/camera_intrinsics/36087771_right",
      "source_dtype": "float64"
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    "native__observation__camera_type__16478870": {
      "source_path": "observation/camera_type/16478870",
      "source_dtype": "int64"
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    "native__observation__camera_type__36087771": {
      "source_path": "observation/camera_type/36087771",
      "source_dtype": "int64"
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    "native__observation__controller_info__controller_on": {
      "source_path": "observation/controller_info/controller_on",
      "source_dtype": "bool"
    },
    "native__observation__controller_info__failure": {
      "source_path": "observation/controller_info/failure",
      "source_dtype": "bool"
    },
    "native__observation__controller_info__movement_enabled": {
      "source_path": "observation/controller_info/movement_enabled",
      "source_dtype": "bool"
    },
    "native__observation__controller_info__success": {
      "source_path": "observation/controller_info/success",
      "source_dtype": "bool"
    },
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      "source_path": "observation/ft_sensor/age_s",
      "source_dtype": "float64"
    },
    "native__observation__ft_sensor__packet_delta": {
      "source_path": "observation/ft_sensor/packet_delta",
      "source_dtype": "int64"
    },
    "native__observation__ft_sensor__packet_discontinuity": {
      "source_path": "observation/ft_sensor/packet_discontinuity",
      "source_dtype": "bool"
    },
    "native__observation__ft_sensor__packet_no": {
      "source_path": "observation/ft_sensor/packet_no",
      "source_dtype": "int64"
    },
    "native__observation__ft_sensor__receive_monotonic_ns": {
      "source_path": "observation/ft_sensor/receive_monotonic_ns",
      "source_dtype": "int64"
    },
    "native__observation__ft_sensor__receive_unix_ns": {
      "source_path": "observation/ft_sensor/receive_unix_ns",
      "source_dtype": "int64"
    },
    "native__observation__ft_sensor__request_monotonic_ns": {
      "source_path": "observation/ft_sensor/request_monotonic_ns",
      "source_dtype": "int64"
    },
    "native__observation__ft_sensor__request_unix_ns": {
      "source_path": "observation/ft_sensor/request_unix_ns",
      "source_dtype": "int64"
    },
    "native__observation__ft_sensor__sample_index": {
      "source_path": "observation/ft_sensor/sample_index",
      "source_dtype": "int64"
    },
    "native__observation__ft_sensor__snapshot_monotonic_ns": {
      "source_path": "observation/ft_sensor/snapshot_monotonic_ns",
      "source_dtype": "int64"
    },
    "native__observation__ft_sensor__snapshot_unix_ns": {
      "source_path": "observation/ft_sensor/snapshot_unix_ns",
      "source_dtype": "int64"
    },
    "native__observation__ft_sensor__valid": {
      "source_path": "observation/ft_sensor/valid",
      "source_dtype": "bool"
    },
    "native__observation__ft_sensor__wrench": {
      "source_path": "observation/ft_sensor/wrench",
      "source_dtype": "float64"
    },
    "native__observation__robot_state__cartesian_position": {
      "source_path": "observation/robot_state/cartesian_position",
      "source_dtype": "float64"
    },
    "native__observation__robot_state__cartesian_position_with_ft_offset": {
      "source_path": "observation/robot_state/cartesian_position_with_ft_offset",
      "source_dtype": "float64"
    },
    "native__observation__robot_state__gripper_position": {
      "source_path": "observation/robot_state/gripper_position",
      "source_dtype": "float64"
    },
    "native__observation__robot_state__joint_positions": {
      "source_path": "observation/robot_state/joint_positions",
      "source_dtype": "float64"
    },
    "native__observation__robot_state__joint_torques_computed": {
      "source_path": "observation/robot_state/joint_torques_computed",
      "source_dtype": "float64"
    },
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      "source_path": "observation/robot_state/joint_velocities",
      "source_dtype": "float64"
    },
    "native__observation__robot_state__motor_torques_measured": {
      "source_path": "observation/robot_state/motor_torques_measured",
      "source_dtype": "float64"
    },
    "native__observation__robot_state__prev_command_successful": {
      "source_path": "observation/robot_state/prev_command_successful",
      "source_dtype": "bool"
    },
    "native__observation__robot_state__prev_controller_latency_ms": {
      "source_path": "observation/robot_state/prev_controller_latency_ms",
      "source_dtype": "float64"
    },
    "native__observation__robot_state__prev_joint_torques_computed": {
      "source_path": "observation/robot_state/prev_joint_torques_computed",
      "source_dtype": "float64"
    },
    "native__observation__robot_state__prev_joint_torques_computed_safened": {
      "source_path": "observation/robot_state/prev_joint_torques_computed_safened",
      "source_dtype": "float64"
    },
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      "source_path": "observation/timestamp/cameras/16478870_estimated_capture",
      "source_dtype": "int64"
    },
    "native__observation__timestamp__cameras__16478870_frame_received": {
      "source_path": "observation/timestamp/cameras/16478870_frame_received",
      "source_dtype": "int64"
    },
    "native__observation__timestamp__cameras__16478870_read_end": {
      "source_path": "observation/timestamp/cameras/16478870_read_end",
      "source_dtype": "int64"
    },
    "native__observation__timestamp__cameras__16478870_read_start": {
      "source_path": "observation/timestamp/cameras/16478870_read_start",
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    "kind": "first_episode_example",
    "description": "This file captures the first exported episode's mapping. source_h5, selected_control_rows, timestamp origin and fields[*].shape are episode-specific examples, not task-wide array shapes.",
    "example_episode_id": "ebd75a68-eea4-43bd-b479-600bdcd6b457",
    "example_episode_metadata": "metadata/episodes/wipe_board/Mon_Oct_12_19-18-09_2026.json",
    "exact_per_episode_mappings": "metadata/episodes/<task>/<episode>.json, mapping member",
    "final_task_array_schema": "metadata/array_schema.json"
  }
}