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55, 56 ] } } }, "observation.state": { "dtype": "float32", "shape": [ 304 ], "field_descriptions": { "hand_state/left/ori": { "description": "21 XYZW quaternions", "dimensions": 84, "indices": [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83 ] }, "hand_state/left/pos": { "description": "21 XYZ positions in camera frame", "dimensions": 63, "indices": [ 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146 ] }, "hand_state/left/valid": { "description": "left hand valid", 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"head_fisheye_left", "mount": "head", "compatibility_alias": true, "active_projection": { "model": "pinhole", "width": 640, "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0, "source_model": "opencv_fisheye", "source_backup": { "gt": "video/fisheye/", "inference": "observations/fisheye/.png" } }, "source_projection": "opencv_fisheye" }, "hand_right": { "source": "head_fisheye_right", "mount": "head", "compatibility_alias": true, "active_projection": { "model": "pinhole", "width": 640, "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0, "source_model": "opencv_fisheye", "source_backup": { "gt": "video/fisheye/", "inference": "observations/fisheye/.png" } }, "source_projection": "opencv_fisheye" }, "head_stereo_left": { "source": "head_stereo_left", "mount": "head", "compatibility_alias": false }, "head_stereo_right": { "source": "head_stereo_right", "mount": "head", "compatibility_alias": false } }, "active_projection": { "model": "pinhole", "width": 640, "height": 480, 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