{
  "features": {
    "action": {
      "dtype": "float32",
      "field_descriptions": {
        "action/end/orientation": {
          "description": "左右手臂末端期望姿态（XYZ+臂形角），shape (2,4)",
          "dimensions": 8,
          "indices": [
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15
          ]
        },
        "action/end/position": {
          "description": "左右手臂末端期望位置（m），shape (2,3)",
          "dimensions": 6,
          "indices": [
            2,
            3,
            4,
            5,
            6,
            7
          ]
        },
        "action/head/position": {
          "description": "头部关节期望角度（弧度），[joint_head_yaw, joint_head_pitch]",
          "dimensions": 3,
          "indices": [
            30,
            31,
            32
          ]
        },
        "action/joint/position": {
          "description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧",
          "dimensions": 14,
          "indices": [
            16,
            17,
            18,
            19,
            20,
            21,
            22,
            23,
            24,
            25,
            26,
            27,
            28,
            29
          ]
        },
        "action/left_effector/position": {
          "description": "左执行器期望行程值/关节角度，夹爪需归一化处理",
          "dimensions": 1,
          "indices": [
            0
          ]
        },
        "action/left_refpose/orientation": {
          "description": "左臂参考姿态",
          "dimensions": 4,
          "indices": [
            44,
            45,
            46,
            47
          ]
        },
        "action/right_effector/position": {
          "description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
          "dimensions": 1,
          "indices": [
            1
          ]
        },
        "action/right_refpose/orientation": {
          "description": "右臂参考姿态",
          "dimensions": 4,
          "indices": [
            48,
            49,
            50,
            51
          ]
        },
        "action/robot/velocity": {
          "description": "底盘期望速度，odom 坐标系，[线速度, 角速度]，size of 2",
          "dimensions": 6,
          "indices": [
            38,
            39,
            40,
            41,
            42,
            43
          ]
        },
        "action/waist/position": {
          "description": "腰部关节期望角度（弧度），[joint_lift_body, joint_body_pitch]",
          "dimensions": 5,
          "indices": [
            33,
            34,
            35,
            36,
            37
          ]
        }
      },
      "shape": [
        52
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "field_descriptions": {
        "extrinsic_end_T_hand_left_rgbd_aligned/rotation_matrix": {
          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
          "dimensions": 9,
          "indices": [
            136,
            137,
            138,
            139,
            140,
            141,
            142,
            143,
            144
          ]
        },
        "extrinsic_end_T_hand_left_rgbd_aligned/translation_vector": {
          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐",
          "dimensions": 3,
          "indices": [
            190,
            191,
            192
          ]
        },
        "extrinsic_end_T_hand_right_rgbd_aligned/rotation_matrix": {
          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
          "dimensions": 9,
          "indices": [
            145,
            146,
            147,
            148,
            149,
            150,
            151,
            152,
            153
          ]
        },
        "extrinsic_end_T_hand_right_rgbd_aligned/translation_vector": {
          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参平移向量（m），逐帧对齐",
          "dimensions": 3,
          "indices": [
            193,
            194,
            195
          ]
        },
        "extrinsic_end_T_head_back_fisheye_aligned/rotation_matrix": {
          "description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
          "dimensions": 9,
          "indices": [
            181,
            182,
            183,
            184,
            185,
            186,
            187,
            188,
            189
          ]
        },
        "extrinsic_end_T_head_back_fisheye_aligned/translation_vector": {
          "description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
          "dimensions": 3,
          "indices": [
            205,
            206,
            207
          ]
        },
        "extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": {
          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
          "dimensions": 9,
          "indices": [
            172,
            173,
            174,
            175,
            176,
            177,
            178,
            179,
            180
          ]
        },
        "extrinsic_end_T_head_front_rgbd_aligned/translation_vector": {
          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐",
          "dimensions": 3,
          "indices": [
            202,
            203,
            204
          ]
        },
        "extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": {
          "description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
          "dimensions": 9,
          "indices": [
            154,
            155,
            156,
            157,
            158,
            159,
            160,
            161,
            162
          ]
        },
        "extrinsic_end_T_head_left_fisheye_aligned/translation_vector": {
          "description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
          "dimensions": 3,
          "indices": [
            196,
            197,
            198
          ]
        },
        "extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": {
          "description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
          "dimensions": 9,
          "indices": [
            163,
            164,
            165,
            166,
            167,
            168,
            169,
            170,
            171
          ]
        },
        "extrinsic_end_T_head_right_fisheye_aligned/translation_vector": {
          "description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
          "dimensions": 3,
          "indices": [
            199,
            200,
            201
          ]
        },
        "state/end/arm_orientation": {
          "description": "左右手臂末端在 arm_base_link 坐标系下的姿态（RPY 弧度或四元数）",
          "dimensions": 8,
          "indices": [
            64,
            65,
            66,
            67,
            68,
            69,
            70,
            71
          ]
        },
        "state/end/arm_position": {
          "description": "左右手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
          "dimensions": 6,
          "indices": [
            72,
            73,
            74,
            75,
            76,
            77
          ]
        },
        "state/end/orientation": {
          "description": "左右手臂末端姿态，四元数 XYZW，shape (2,4)",
          "dimensions": 8,
          "indices": [
            56,
            57,
            58,
            59,
            60,
            61,
            62,
            63
          ]
        },
        "state/end/position": {
          "description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算",
          "dimensions": 6,
          "indices": [
            26,
            27,
            28,
            29,
            30,
            31
          ]
        },
        "state/end/velocity": {
          "description": "左右手臂末端线速度（m/s），来自 MC frame_twists",
          "dimensions": 24,
          "indices": [
            32,
            33,
            34,
            35,
            36,
            37,
            38,
            39,
            40,
            41,
            42,
            43,
            44,
            45,
            46,
            47,
            48,
            49,
            50,
            51,
            52,
            53,
            54,
            55
          ]
        },
        "state/end/wrench": {
          "description": "左右手臂末端六维力/力矩，fx/fy/fz/mx/my/mz，size of 12",
          "dimensions": 24,
          "indices": [
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15,
            16,
            17,
            18,
            19,
            20,
            21,
            22,
            23,
            24,
            25
          ]
        },
        "state/head/position": {
          "description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2",
          "dimensions": 3,
          "indices": [
            120,
            121,
            122
          ]
        },
        "state/joint/current_value": {
          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
          "dimensions": 0,
          "indices": []
        },
        "state/joint/effort": {
          "description": "左右臂关节力矩（Nm），来自 motor_states[:].effort",
          "dimensions": 14,
          "indices": [
            92,
            93,
            94,
            95,
            96,
            97,
            98,
            99,
            100,
            101,
            102,
            103,
            104,
            105
          ]
        },
        "state/joint/position": {
          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
          "dimensions": 14,
          "indices": [
            78,
            79,
            80,
            81,
            82,
            83,
            84,
            85,
            86,
            87,
            88,
            89,
            90,
            91
          ]
        },
        "state/joint/velocity": {
          "description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity",
          "dimensions": 14,
          "indices": [
            106,
            107,
            108,
            109,
            110,
            111,
            112,
            113,
            114,
            115,
            116,
            117,
            118,
            119
          ]
        },
        "state/left_ee_force/cols": {
          "description": "左手触觉传感器矩阵列数",
          "dimensions": 0,
          "indices": []
        },
        "state/left_ee_force/contact": {
          "description": "左手触觉传感器接触状态",
          "dimensions": 0,
          "indices": []
        },
        "state/left_ee_force/controlled": {
          "description": "左手触觉传感器是否处于受控状态",
          "dimensions": 0,
          "indices": []
        },
        "state/left_ee_force/err_code": {
          "description": "左手触觉传感器错误码",
          "dimensions": 0,
          "indices": []
        },
        "state/left_ee_force/normal_force": {
          "description": "左手触觉传感器法向力（N）",
          "dimensions": 0,
          "indices": []
        },
        "state/left_ee_force/resolution_x": {
          "description": "左手触觉传感器 X 方向分辨率",
          "dimensions": 0,
          "indices": []
        },
        "state/left_ee_force/resolution_y": {
          "description": "左手触觉传感器 Y 方向分辨率",
          "dimensions": 0,
          "indices": []
        },
        "state/left_ee_force/rows": {
          "description": "左手触觉传感器矩阵行数",
          "dimensions": 0,
          "indices": []
        },
        "state/left_ee_force/shear_force_x": {
          "description": "左手触觉传感器 X 方向剪切力（N）",
          "dimensions": 0,
          "indices": []
        },
        "state/left_ee_force/shear_force_y": {
          "description": "左手触觉传感器 Y 方向剪切力（N）",
          "dimensions": 0,
          "indices": []
        },
        "state/left_ee_force/valid": {
          "description": "左手触觉传感器数据有效标志",
          "dimensions": 0,
          "indices": []
        },
        "state/left_effector/position": {
          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
          "dimensions": 1,
          "indices": [
            0
          ]
        },
        "state/left_vr_button/axis_click": {
          "description": "左手 VR 手柄摇杆按下状态，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/left_vr_button/axis_x": {
          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/left_vr_button/axis_y": {
          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/left_vr_button/hand_trig": {
          "description": "左手 VR 手柄握持扳机值，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/left_vr_button/index_trig": {
          "description": "左手 VR 手柄食指扳机值，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/left_vr_button/key_one": {
          "description": "左手 VR 手柄按键一状态，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/left_vr_button/key_two": {
          "description": "左手 VR 手柄按键二状态，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/operator_event/action_src_status": {
          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
          "dimensions": 1,
          "indices": [
            135
          ]
        },
        "state/right_ee_force/cols": {
          "description": "右手触觉传感器矩阵列数",
          "dimensions": 0,
          "indices": []
        },
        "state/right_ee_force/contact": {
          "description": "右手触觉传感器接触状态",
          "dimensions": 0,
          "indices": []
        },
        "state/right_ee_force/controlled": {
          "description": "右手触觉传感器是否处于受控状态",
          "dimensions": 0,
          "indices": []
        },
        "state/right_ee_force/err_code": {
          "description": "右手触觉传感器错误码",
          "dimensions": 0,
          "indices": []
        },
        "state/right_ee_force/normal_force": {
          "description": "右手触觉传感器法向力（N）",
          "dimensions": 0,
          "indices": []
        },
        "state/right_ee_force/resolution_x": {
          "description": "右手触觉传感器 X 方向分辨率",
          "dimensions": 0,
          "indices": []
        },
        "state/right_ee_force/resolution_y": {
          "description": "右手触觉传感器 Y 方向分辨率",
          "dimensions": 0,
          "indices": []
        },
        "state/right_ee_force/rows": {
          "description": "右手触觉传感器矩阵行数",
          "dimensions": 0,
          "indices": []
        },
        "state/right_ee_force/shear_force_x": {
          "description": "右手触觉传感器 X 方向剪切力（N）",
          "dimensions": 0,
          "indices": []
        },
        "state/right_ee_force/shear_force_y": {
          "description": "右手触觉传感器 Y 方向剪切力（N）",
          "dimensions": 0,
          "indices": []
        },
        "state/right_ee_force/valid": {
          "description": "右手触觉传感器数据有效标志",
          "dimensions": 0,
          "indices": []
        },
        "state/right_effector/position": {
          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
          "dimensions": 1,
          "indices": [
            1
          ]
        },
        "state/right_vr_button/axis_click": {
          "description": "右手 VR 手柄摇杆按下状态，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/right_vr_button/axis_x": {
          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/right_vr_button/axis_y": {
          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/right_vr_button/hand_trig": {
          "description": "右手 VR 手柄握持扳机值，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/right_vr_button/index_trig": {
          "description": "右手 VR 手柄食指扳机值，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/right_vr_button/key_one": {
          "description": "右手 VR 手柄按键一状态，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/right_vr_button/key_two": {
          "description": "右手 VR 手柄按键二状态，size of 1",
          "dimensions": 0,
          "indices": []
        },
        "state/robot/orientation": {
          "description": "机体姿态，odom 坐标系，四元数，size of 4",
          "dimensions": 4,
          "indices": [
            131,
            132,
            133,
            134
          ]
        },
        "state/robot/position": {
          "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
          "dimensions": 3,
          "indices": [
            128,
            129,
            130
          ]
        },
        "state/waist/position": {
          "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
          "dimensions": 5,
          "indices": [
            123,
            124,
            125,
            126,
            127
          ]
        }
      },
      "shape": [
        208
      ]
    }
  },
  "observations": {
    "hand_left": {
      "availability": "initial frame only",
      "color_space": "RGB",
      "dtype": "uint8",
      "encoding": "png"
    },
    "hand_right": {
      "availability": "initial frame only",
      "color_space": "RGB",
      "dtype": "uint8",
      "encoding": "png"
    },
    "top_head": {
      "availability": "initial frame only",
      "color_space": "RGB",
      "dtype": "uint8",
      "encoding": "png"
    }
  },
  "schema_version": "acwmbench.inference.v1",
  "timeline": {
    "fps": 30.0,
    "frame_index": {
      "dtype": "int64",
      "origin": 0,
      "step": 1
    },
    "timestamp": {
      "definition": "frame_index / fps",
      "dtype": "float32"
    }
  }
}