{
  "schema": "franka-ft-oxt-final-array-schema-v1",
  "scope": "Actual final task-wide data arrays read from each Zarr v2 .zarray file; shapes include all episodes in that task.",
  "source": "zarr/<task>.zarr/data/<key>/.zarray",
  "native_field_naming": "native__ + original HDF5 path with each '/' replaced by '__'; values retain selected source rows and native numeric dtypes.",
  "episode_boundaries": "zarr/<task>.zarr/meta/episode_ends",
  "per_episode_mapping": "metadata/episodes/<task>/<episode>.json, mapping member",
  "tasks": {
    "wipe_board": {
      "zarr_path": "zarr/wipe_board.zarr",
      "row_count": 14941,
      "array_count": 130,
      "arrays": {
        "action_eef_pose": {
          "shape": [
            14941,
            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Recorded requested pre-IK native EEF target, xyz metres + rotation-vector radians."
        },
        "action_eef_pose_with_ft_offset": {
          "shape": [
            14941,
            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Recorded action EEF point shifted along local +Z by 63mm; not a full TCP transform."
        },
        "action_joint_position": {
          "shape": [
            14941,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Actual recorded seven-joint targets, radians; not derived from future state."
        },
        "camera_frame_index__16478870": {
          "shape": [
            14941
          ],
          "dtype": "<i8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Exact original decoded SVO frame index for the selected control row.",
          "camera_serial": "16478870"
        },
        "camera_frame_index__36087771": {
          "shape": [
            14941
          ],
          "dtype": "<i8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Exact original decoded SVO frame index for the selected control row.",
          "camera_serial": "36087771"
        },
        "camera_main_intrinsics": {
          "shape": [
            14941,
            3,
            3
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            3,
            3
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "3x3 intrinsic K from SDK rectified LEFT calibration at the exported 640x360 resolution; repeated per selected row, distinct from original HDF5 K.",
          "camera_serial": "36087771"
        },
        "camera_main_rgb": {
          "shape": [
            14941,
            360,
            640,
            3
          ],
          "dtype": "|u1",
          "chunks": [
            1,
            360,
            640,
            3
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 0,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "SDK LEFT rectified RGB uint8 images at 640x360; PNG then Blosc preserves decoded resized pixels.",
          "camera_serial": "36087771"
        },
        "camera_timestamp_unix_ns__16478870": {
          "shape": [
            14941
          ],
          "dtype": "<i8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Original SDK IMAGE Unix nanoseconds; floor-to-ms exactly matches recorded HDF5 frame_received.",
          "camera_serial": "16478870"
        },
        "camera_timestamp_unix_ns__36087771": {
          "shape": [
            14941
          ],
          "dtype": "<i8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Original SDK IMAGE Unix nanoseconds; floor-to-ms exactly matches recorded HDF5 frame_received.",
          "camera_serial": "36087771"
        },
        "command_dispatched": {
          "shape": [
            14941
          ],
          "dtype": "|b1",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "description": "Whether env.step was called; false means hypothetical hold, true does not prove acceptance."
        },
        "ft_wrench": {
          "shape": [
            14941,
            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Unmodified native sensor-frame Fx,Fy,Fz,Mx,My,Mz; assumed N,N,N,Nm,Nm,Nm."
        },
        "native__action__cartesian_position": {
          "shape": [
            14941,
            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/cartesian_position",
          "description": "Selected rows copied from trajectory.h5/action/cartesian_position; no value transformation."
        },
        "native__action__cartesian_position_with_ft_offset": {
          "shape": [
            14941,
            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/cartesian_position_with_ft_offset",
          "description": "Selected rows copied from trajectory.h5/action/cartesian_position_with_ft_offset; no value transformation."
        },
        "native__action__cartesian_velocity": {
          "shape": [
            14941,
            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/cartesian_velocity",
          "description": "Selected rows copied from trajectory.h5/action/cartesian_velocity; no value transformation."
        },
        "native__action__command_dispatched": {
          "shape": [
            14941
          ],
          "dtype": "|b1",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/command_dispatched",
          "description": "Selected rows copied from trajectory.h5/action/command_dispatched; no value transformation."
        },
        "native__action__controller_metadata_json": {
          "shape": [
            14941
          ],
          "dtype": "<U200",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": "",
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/controller_metadata_json",
          "description": "Selected rows copied from trajectory.h5/action/controller_metadata_json; no value transformation."
        },
        "native__action__controller_target_valid": {
          "shape": [
            14941
          ],
          "dtype": "|b1",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/controller_target_valid",
          "description": "Selected rows copied from trajectory.h5/action/controller_target_valid; no value transformation."
        },
        "native__action__gripper_position": {
          "shape": [
            14941
          ],
          "dtype": "<f8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/gripper_position",
          "description": "Selected rows copied from trajectory.h5/action/gripper_position; no value transformation."
        },
        "native__action__gripper_velocity": {
          "shape": [
            14941
          ],
          "dtype": "<f8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/gripper_velocity",
          "description": "Selected rows copied from trajectory.h5/action/gripper_velocity; no value transformation."
        },
        "native__action__input_action": {
          "shape": [
            14941,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/input_action",
          "description": "Selected rows copied from trajectory.h5/action/input_action; no value transformation."
        },
        "native__action__joint_position": {
          "shape": [
            14941,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/joint_position",
          "description": "Selected rows copied from trajectory.h5/action/joint_position; no value transformation."
        },
        "native__action__joint_velocity": {
          "shape": [
            14941,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/joint_velocity",
          "description": "Selected rows copied from trajectory.h5/action/joint_velocity; no value transformation."
        },
        "native__action__robot_state__cartesian_position": {
          "shape": [
            14941,
            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/cartesian_position",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/cartesian_position; no value transformation."
        },
        "native__action__robot_state__gripper_position": {
          "shape": [
            14941
          ],
          "dtype": "<f8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/gripper_position",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/gripper_position; no value transformation."
        },
        "native__action__robot_state__joint_positions": {
          "shape": [
            14941,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/joint_positions",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_positions; no value transformation."
        },
        "native__action__robot_state__joint_torques_computed": {
          "shape": [
            14941,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/joint_torques_computed",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_torques_computed; no value transformation."
        },
        "native__action__robot_state__joint_velocities": {
          "shape": [
            14941,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/joint_velocities",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_velocities; no value transformation."
        },
        "native__action__robot_state__motor_torques_measured": {
          "shape": [
            14941,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/motor_torques_measured",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/motor_torques_measured; no value transformation."
        },
        "native__action__robot_state__prev_command_successful": {
          "shape": [
            14941
          ],
          "dtype": "|b1",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_command_successful",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_command_successful; no value transformation."
        },
        "native__action__robot_state__prev_controller_latency_ms": {
          "shape": [
            14941
          ],
          "dtype": "<f8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_controller_latency_ms",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_controller_latency_ms; no value transformation."
        },
        "native__action__robot_state__prev_joint_torques_computed": {
          "shape": [
            14941,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_joint_torques_computed",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed; no value transformation."
        },
        "native__action__robot_state__prev_joint_torques_computed_safened": {
          "shape": [
            14941,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_joint_torques_computed_safened",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed_safened; no value transformation."
        },
        "native__action__target_cartesian_position": {
          "shape": [
            14941,
            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/target_cartesian_position",
          "description": "Selected rows copied from trajectory.h5/action/target_cartesian_position; no value transformation."
        },
        "native__action__target_gripper_position": {
          "shape": [
            14941
          ],
          "dtype": "<f8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/target_gripper_position",
          "description": "Selected rows copied from trajectory.h5/action/target_gripper_position; no value transformation."
        },
        "native__observation__camera_distortion_coefficients__16478870_left": {
          "shape": [
            14941,
            12
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            12
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "observation/camera_distortion_coefficients/16478870_left",
          "description": "Selected rows copied from trajectory.h5/observation/camera_distortion_coefficients/16478870_left; no value transformation."
        },
        "native__observation__camera_distortion_coefficients__16478870_right": {
          "shape": [
            14941,
            12
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            12
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "observation/camera_distortion_coefficients/16478870_right",
          "description": "Selected rows copied from trajectory.h5/observation/camera_distortion_coefficients/16478870_right; no value transformation."
        },
        "native__observation__camera_distortion_coefficients__36087771_left": {
          "shape": [
            14941,
            12
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            12
          ],
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          "dtype": "<i8",
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        "right_tactile_data_wrist_torque": {
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          "description": "SDK LEFT rectified RGB uint8 images at 640x360; PNG then Blosc preserves decoded resized pixels.",
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          "description": "Native robot-model EEF/flange xyz metres + rotation-vector radians; canonical wrist alignment unverified."
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        "source_control_row": {
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          "description": "The same full six-axis wrench as ft_wrench; see supplementary_tactile_note.json."
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          "description": "Seconds since the original episode's first host control step; subtraction precedes float conversion."
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          "dimension_separator": ".",
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Native robot-model EEF/flange xyz metres + rotation-vector radians; canonical wrist alignment unverified."
        },
        "source_control_row": {
          "shape": [
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          ],
          "dtype": "<i8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
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          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Original trajectory row for each retained standard row."
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          "dtype": "<f8",
          "chunks": [
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
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          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Recorded state EEF point shifted along local +Z by 63mm; not a full TCP transform."
        },
        "sub_task_instruction": {
          "shape": [
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          ],
          "dtype": "<U16",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": "",
          "order": "C",
          "dimension_separator": ".",
          "description": "Concrete curated task instruction for the episode."
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        "supplementary_tactile": {
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          "dtype": "<f8",
          "chunks": [
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          "compressor": {
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            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "The same full six-axis wrench as ft_wrench; see supplementary_tactile_note.json."
        },
        "timestamp_unix_ns": {
          "shape": [
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          ],
          "dtype": "<i8",
          "chunks": [
            256
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Exact selected host control step_start_unix_ns, int64."
        },
        "timestamps": {
          "shape": [
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          "dtype": "<f8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Seconds since the original episode's first host control step; subtraction precedes float conversion."
        }
      }
    },
    "insert_pen": {
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      "row_count": 11815,
      "array_count": 130,
      "arrays": {
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          "dtype": "<f8",
          "chunks": [
            256,
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          "compressor": {
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            "blocksize": 0
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          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Recorded requested pre-IK native EEF target, xyz metres + rotation-vector radians."
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            6
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          "dtype": "<f8",
          "chunks": [
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
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          "filters": null,
          "fill_value": 0.0,
          "order": "C",
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          "description": "Recorded action EEF point shifted along local +Z by 63mm; not a full TCP transform."
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        "action_joint_position": {
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          "dtype": "<f8",
          "chunks": [
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Actual recorded seven-joint targets, radians; not derived from future state."
        },
        "camera_frame_index__16478870": {
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          ],
          "dtype": "<i8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Exact original decoded SVO frame index for the selected control row.",
          "camera_serial": "16478870"
        },
        "camera_frame_index__36087771": {
          "shape": [
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          ],
          "dtype": "<i8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Exact original decoded SVO frame index for the selected control row.",
          "camera_serial": "36087771"
        },
        "camera_main_intrinsics": {
          "shape": [
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            3,
            3
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          "dtype": "<f8",
          "chunks": [
            256,
            3,
            3
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "3x3 intrinsic K from SDK rectified LEFT calibration at the exported 640x360 resolution; repeated per selected row, distinct from original HDF5 K.",
          "camera_serial": "36087771"
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        "camera_main_rgb": {
          "shape": [
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            360,
            640,
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          "dtype": "|u1",
          "chunks": [
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            360,
            640,
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 0,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "SDK LEFT rectified RGB uint8 images at 640x360; PNG then Blosc preserves decoded resized pixels.",
          "camera_serial": "36087771"
        },
        "camera_timestamp_unix_ns__16478870": {
          "shape": [
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          "dtype": "<i8",
          "chunks": [
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Original SDK IMAGE Unix nanoseconds; floor-to-ms exactly matches recorded HDF5 frame_received.",
          "camera_serial": "16478870"
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        "camera_timestamp_unix_ns__36087771": {
          "shape": [
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          "dtype": "<i8",
          "chunks": [
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          "compressor": {
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            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
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          "filters": null,
          "fill_value": 0,
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          "dimension_separator": ".",
          "description": "Original SDK IMAGE Unix nanoseconds; floor-to-ms exactly matches recorded HDF5 frame_received.",
          "camera_serial": "36087771"
        },
        "command_dispatched": {
          "shape": [
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          ],
          "dtype": "|b1",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "description": "Whether env.step was called; false means hypothetical hold, true does not prove acceptance."
        },
        "ft_wrench": {
          "shape": [
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            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "description": "Unmodified native sensor-frame Fx,Fy,Fz,Mx,My,Mz; assumed N,N,N,Nm,Nm,Nm."
        },
        "native__action__cartesian_position": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/cartesian_position",
          "description": "Selected rows copied from trajectory.h5/action/cartesian_position; no value transformation."
        },
        "native__action__cartesian_position_with_ft_offset": {
          "shape": [
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            6
          ],
          "dtype": "<f8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/cartesian_position_with_ft_offset",
          "description": "Selected rows copied from trajectory.h5/action/cartesian_position_with_ft_offset; no value transformation."
        },
        "native__action__cartesian_velocity": {
          "shape": [
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            6
          ],
          "dtype": "<f8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/cartesian_velocity",
          "description": "Selected rows copied from trajectory.h5/action/cartesian_velocity; no value transformation."
        },
        "native__action__command_dispatched": {
          "shape": [
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          ],
          "dtype": "|b1",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/command_dispatched",
          "description": "Selected rows copied from trajectory.h5/action/command_dispatched; no value transformation."
        },
        "native__action__controller_metadata_json": {
          "shape": [
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          ],
          "dtype": "<U199",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": "",
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/controller_metadata_json",
          "description": "Selected rows copied from trajectory.h5/action/controller_metadata_json; no value transformation."
        },
        "native__action__controller_target_valid": {
          "shape": [
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          ],
          "dtype": "|b1",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/controller_target_valid",
          "description": "Selected rows copied from trajectory.h5/action/controller_target_valid; no value transformation."
        },
        "native__action__gripper_position": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/gripper_position",
          "description": "Selected rows copied from trajectory.h5/action/gripper_position; no value transformation."
        },
        "native__action__gripper_velocity": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/gripper_velocity",
          "description": "Selected rows copied from trajectory.h5/action/gripper_velocity; no value transformation."
        },
        "native__action__input_action": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/input_action",
          "description": "Selected rows copied from trajectory.h5/action/input_action; no value transformation."
        },
        "native__action__joint_position": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
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            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/joint_position",
          "description": "Selected rows copied from trajectory.h5/action/joint_position; no value transformation."
        },
        "native__action__joint_velocity": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
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            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/joint_velocity",
          "description": "Selected rows copied from trajectory.h5/action/joint_velocity; no value transformation."
        },
        "native__action__robot_state__cartesian_position": {
          "shape": [
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            6
          ],
          "dtype": "<f8",
          "chunks": [
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            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/cartesian_position",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/cartesian_position; no value transformation."
        },
        "native__action__robot_state__gripper_position": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/gripper_position",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/gripper_position; no value transformation."
        },
        "native__action__robot_state__joint_positions": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/joint_positions",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_positions; no value transformation."
        },
        "native__action__robot_state__joint_torques_computed": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/joint_torques_computed",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_torques_computed; no value transformation."
        },
        "native__action__robot_state__joint_velocities": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/joint_velocities",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_velocities; no value transformation."
        },
        "native__action__robot_state__motor_torques_measured": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
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          "compressor": {
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            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/motor_torques_measured",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/motor_torques_measured; no value transformation."
        },
        "native__action__robot_state__prev_command_successful": {
          "shape": [
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          ],
          "dtype": "|b1",
          "chunks": [
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          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_command_successful",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_command_successful; no value transformation."
        },
        "native__action__robot_state__prev_controller_latency_ms": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_controller_latency_ms",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_controller_latency_ms; no value transformation."
        },
        "native__action__robot_state__prev_joint_torques_computed": {
          "shape": [
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          "dtype": "<f8",
          "chunks": [
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          "compressor": {
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            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_joint_torques_computed",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed; no value transformation."
        },
        "native__action__robot_state__prev_joint_torques_computed_safened": {
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          "dtype": "<f8",
          "chunks": [
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          "compressor": {
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            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
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          "description": "Unmodified native sensor-frame Fx,Fy,Fz,Mx,My,Mz; assumed N,N,N,Nm,Nm,Nm."
        },
        "native__action__cartesian_position": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
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            "id": "blosc",
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            "clevel": 3,
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            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/cartesian_position",
          "description": "Selected rows copied from trajectory.h5/action/cartesian_position; no value transformation."
        },
        "native__action__cartesian_position_with_ft_offset": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
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          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/cartesian_position_with_ft_offset",
          "description": "Selected rows copied from trajectory.h5/action/cartesian_position_with_ft_offset; no value transformation."
        },
        "native__action__cartesian_velocity": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/cartesian_velocity",
          "description": "Selected rows copied from trajectory.h5/action/cartesian_velocity; no value transformation."
        },
        "native__action__command_dispatched": {
          "shape": [
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          ],
          "dtype": "|b1",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
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            "shuffle": 1,
            "blocksize": 0
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          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/command_dispatched",
          "description": "Selected rows copied from trajectory.h5/action/command_dispatched; no value transformation."
        },
        "native__action__controller_metadata_json": {
          "shape": [
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          ],
          "dtype": "<U197",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
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            "blocksize": 0
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          "filters": null,
          "fill_value": "",
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/controller_metadata_json",
          "description": "Selected rows copied from trajectory.h5/action/controller_metadata_json; no value transformation."
        },
        "native__action__controller_target_valid": {
          "shape": [
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          ],
          "dtype": "|b1",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
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          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/controller_target_valid",
          "description": "Selected rows copied from trajectory.h5/action/controller_target_valid; no value transformation."
        },
        "native__action__gripper_position": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/gripper_position",
          "description": "Selected rows copied from trajectory.h5/action/gripper_position; no value transformation."
        },
        "native__action__gripper_velocity": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/gripper_velocity",
          "description": "Selected rows copied from trajectory.h5/action/gripper_velocity; no value transformation."
        },
        "native__action__input_action": {
          "shape": [
            10622,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
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          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/input_action",
          "description": "Selected rows copied from trajectory.h5/action/input_action; no value transformation."
        },
        "native__action__joint_position": {
          "shape": [
            10622,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/joint_position",
          "description": "Selected rows copied from trajectory.h5/action/joint_position; no value transformation."
        },
        "native__action__joint_velocity": {
          "shape": [
            10622,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/joint_velocity",
          "description": "Selected rows copied from trajectory.h5/action/joint_velocity; no value transformation."
        },
        "native__action__robot_state__cartesian_position": {
          "shape": [
            10622,
            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/cartesian_position",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/cartesian_position; no value transformation."
        },
        "native__action__robot_state__gripper_position": {
          "shape": [
            10622
          ],
          "dtype": "<f8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/gripper_position",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/gripper_position; no value transformation."
        },
        "native__action__robot_state__joint_positions": {
          "shape": [
            10622,
            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/joint_positions",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_positions; no value transformation."
        },
        "native__action__robot_state__joint_torques_computed": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/joint_torques_computed",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_torques_computed; no value transformation."
        },
        "native__action__robot_state__joint_velocities": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/joint_velocities",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_velocities; no value transformation."
        },
        "native__action__robot_state__motor_torques_measured": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/motor_torques_measured",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/motor_torques_measured; no value transformation."
        },
        "native__action__robot_state__prev_command_successful": {
          "shape": [
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          ],
          "dtype": "|b1",
          "chunks": [
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          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": false,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_command_successful",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_command_successful; no value transformation."
        },
        "native__action__robot_state__prev_controller_latency_ms": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_controller_latency_ms",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_controller_latency_ms; no value transformation."
        },
        "native__action__robot_state__prev_joint_torques_computed": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_joint_torques_computed",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed; no value transformation."
        },
        "native__action__robot_state__prev_joint_torques_computed_safened": {
          "shape": [
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            7
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            7
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/robot_state/prev_joint_torques_computed_safened",
          "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed_safened; no value transformation."
        },
        "native__action__target_cartesian_position": {
          "shape": [
            10622,
            6
          ],
          "dtype": "<f8",
          "chunks": [
            256,
            6
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/target_cartesian_position",
          "description": "Selected rows copied from trajectory.h5/action/target_cartesian_position; no value transformation."
        },
        "native__action__target_gripper_position": {
          "shape": [
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          ],
          "dtype": "<f8",
          "chunks": [
            256
          ],
          "compressor": {
            "id": "blosc",
            "cname": "zstd",
            "clevel": 3,
            "shuffle": 1,
            "blocksize": 0
          },
          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "action/target_gripper_position",
          "description": "Selected rows copied from trajectory.h5/action/target_gripper_position; no value transformation."
        },
        "native__observation__camera_distortion_coefficients__16478870_left": {
          "shape": [
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            12
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          "dtype": "<f8",
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          "compressor": {
            "id": "blosc",
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            "blocksize": 0
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          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "observation/camera_distortion_coefficients/16478870_left",
          "description": "Selected rows copied from trajectory.h5/observation/camera_distortion_coefficients/16478870_left; no value transformation."
        },
        "native__observation__camera_distortion_coefficients__16478870_right": {
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          "compressor": {
            "id": "blosc",
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          "filters": null,
          "fill_value": 0.0,
          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "observation/camera_distortion_coefficients/16478870_right",
          "description": "Selected rows copied from trajectory.h5/observation/camera_distortion_coefficients/16478870_right; no value transformation."
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        "native__observation__camera_distortion_coefficients__36087771_left": {
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          "dtype": "<f8",
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            "id": "blosc",
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          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "observation/camera_distortion_coefficients/36087771_left",
          "description": "Selected rows copied from trajectory.h5/observation/camera_distortion_coefficients/36087771_left; no value transformation."
        },
        "native__observation__camera_distortion_coefficients__36087771_right": {
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          "compressor": {
            "id": "blosc",
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          "order": "C",
          "dimension_separator": ".",
          "source_h5_dataset": "observation/camera_distortion_coefficients/36087771_right",
          "description": "Selected rows copied from trajectory.h5/observation/camera_distortion_coefficients/36087771_right; no value transformation."
        },
        "native__observation__camera_extrinsics__16478870_left": {
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          "dimension_separator": ".",
          "source_h5_dataset": "observation/camera_extrinsics/16478870_left",
          "description": "Selected rows copied from trajectory.h5/observation/camera_extrinsics/16478870_left; no value transformation."
        },
        "native__observation__camera_extrinsics__16478870_left_gripper_offset": {
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          "dimension_separator": ".",
          "source_h5_dataset": "observation/camera_extrinsics/16478870_left_gripper_offset",
          "description": "Selected rows copied from trajectory.h5/observation/camera_extrinsics/16478870_left_gripper_offset; no value transformation."
        },
        "native__observation__camera_extrinsics__16478870_right": {
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          "source_h5_dataset": "observation/camera_extrinsics/16478870_right",
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        "native__observation__camera_extrinsics__16478870_right_gripper_offset": {
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          "dimension_separator": ".",
          "source_h5_dataset": "observation/camera_extrinsics/16478870_right_gripper_offset",
          "description": "Selected rows copied from trajectory.h5/observation/camera_extrinsics/16478870_right_gripper_offset; no value transformation."
        },
        "native__observation__camera_extrinsics__19824535_left": {
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          "dimension_separator": ".",
          "source_h5_dataset": "observation/camera_extrinsics/19824535_left",
          "description": "Selected rows copied from trajectory.h5/observation/camera_extrinsics/19824535_left; no value transformation."
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        "native__observation__camera_extrinsics__19824535_right": {
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          "source_h5_dataset": "observation/camera_extrinsics/19824535_right",
          "description": "Selected rows copied from trajectory.h5/observation/camera_extrinsics/19824535_right; no value transformation."
        },
        "native__observation__camera_extrinsics__23404442_left": {
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          "description": "Selected rows copied from trajectory.h5/observation/camera_extrinsics/23404442_left; no value transformation."
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        "native__observation__camera_extrinsics__23404442_right": {
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            "id": "blosc",
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          "source_h5_dataset": "observation/camera_extrinsics/23404442_right",
          "description": "Selected rows copied from trajectory.h5/observation/camera_extrinsics/23404442_right; no value transformation."
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          "dimension_separator": ".",
          "description": "Concrete curated task instruction for the episode."
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        },
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          "description": "Seconds since the original episode's first host control step; subtraction precedes float conversion."
        }
      }
    }
  }
}