{
  "schema_version": 1,
  "episodes": 134537,
  "frames": 42559113,
  "shards": 268,
  "bytes": 4257792000,
  "counts": {
    "episodes": 134537,
    "frames": 42559113,
    "copied_command_episodes": 0,
    "unresolved_sparse_command_episodes": 0,
    "command_review_episodes": 12,
    "state_invalid_arm_frames": 0,
    "command_invalid_arm_frames": 3654
  },
  "coverage_complete": true,
  "all_shards_checksum_verified": true,
  "all_frames_pose_schema_verified": true,
  "data_index": "eef/episodes.jsonl",
  "shard_manifest": "eef/shards.jsonl",
  "statistics": "eef/statistics.json",
  "reader": "eef/reader.py",
  "pose_format": "float32 XYZ metres + xyzw quaternion, [frames,2,7]",
  "actions": "Recorded-command poses remain separate from explicitly derived next-state targets. Select action_mode in the reader.",
  "camera_reprojection_validation": "Not certified across the dataset. RoboMIND poses are nominal-model FK, with explicit per-arm base and terminal-arm frame names.",
  "models": "eef/models.json"
}