{
  "schema_version": 2,
  "dataset_name": "press_button_mix",
  "source_task_name": "press_button",
  "resumed_from_committed_episodes": 24,
  "repo_id": "Keith-Luo/press_button_mix",
  "fps": 30,
  "state_names": [
    "vision.base_yaw",
    "vision.shoulder_pitch",
    "vision.elbow_pitch",
    "vision.wrist_pitch",
    "vision.wrist_yaw",
    "vision.camera_roll",
    "manip.joint1",
    "manip.joint2",
    "manip.joint3",
    "manip.joint4",
    "manip.joint5",
    "manip.joint6",
    "manip.gripper"
  ],
  "action_names": [
    "vision.base_yaw",
    "vision.shoulder_pitch",
    "vision.elbow_pitch",
    "vision.wrist_pitch",
    "vision.wrist_yaw",
    "vision.camera_roll",
    "manip.joint1",
    "manip.joint2",
    "manip.joint3",
    "manip.joint4",
    "manip.joint5",
    "manip.joint6",
    "manip.gripper"
  ],
  "units": {
    "vision_joints": "radian",
    "manip_joints": "radian",
    "manip_gripper": "meter",
    "poses": "position_meter_quaternion_xyzw"
  },
  "rgb_feature": "observation.images.rgb",
  "depth_encoding": null,
  "aligned_depth_included": false,
  "depth_index": "rgbd/index.jsonl",
  "depth_uploaded_to_hub": false,
  "depth_registered_to": "color_intrinsics",
  "world_pointcloud_ready": true,
  "world_pointcloud_frame": "base_link",
  "pointcloud": {
    "enabled": true,
    "storage": "lerobot_parquet_array_features",
    "xyz_feature": "observation.pointcloud.xyz",
    "rgb_feature": "observation.pointcloud.rgb",
    "valid_mask_feature": "observation.pointcloud.valid_mask",
    "valid_count_feature": "source.pointcloud_valid_count",
    "num_points": 1024,
    "coordinate_frame": "base_link",
    "xyz_dtype": "float32",
    "xyz_unit": "meter",
    "rgb_dtype": "uint8",
    "rgb_color_order": "RGB",
    "sampling_method": "deterministic_uniform_candidate_preselection_then_fps_after_episode_table_plane_relative_crop",
    "depth_pixel_stride": 2,
    "max_fps_candidates": 1024,
    "full_resolution_fallback": "when cropped candidates are fewer than num_points",
    "full_resolution_fallback_frames": null,
    "full_resolution_fallback_frames_resumed_run": 0,
    "candidate_limit_applied_frames": null,
    "candidate_limit_applied_frames_resumed_run": 34542,
    "crop_min_base_link": [
      0.0,
      -0.9,
      -0.08
    ],
    "crop_max_base_link": [
      0.9,
      0.0,
      0.6
    ],
    "crop_mode": "table_plane",
    "crop_min_z_behavior": "replaced_by_table_signed_distance",
    "table_clearance_m": 0.01,
    "table_fit_z_range_m": [
      -0.08,
      0.04
    ],
    "table_fit_frames": 9,
    "table_fit_stride": 8,
    "table_ransac_threshold_m": 0.006,
    "table_max_tilt_deg": 10.0,
    "min_depth_m": 0.08,
    "max_depth_m": 2.5,
    "valid_count": {
      "min": 1024,
      "max": 1024,
      "mean": 1024.0
    },
    "statistics": "XYZ/RGB reduce over frames and valid points; mask is excluded"
  },
  "hand_eye_status": "PASS",
  "hand_eye_warnings": [],
  "hand_eye_sha256": "2448ab27a8f2f973bc8befa4979ae8b45dc97d26385538421643c9eb9217edc5",
  "hand_eye_source": "/home/ubuntu/QuestArmTeleop/data/calibration/cambot_mount_to_color_optical.json"
}