{
    "_README": [
        "UMI-like bimanual 20-D EEF format exported to LeRobot v3.0.",
        "state/action vectors are [right_10d, left_10d].",
        "Each 10D block is [position_xyz, rotation_6d_first_two_rows, gripper_angle_rad].",
        "Actions are absolute next-state targets with the final target repeated at the last row.",
        "Videos are materialized from media.<stream>.frame_index and aligned to data rows when available."
    ],
    "state": {
        "right_eef_pose": {
            "start": 0,
            "end": 9,
            "rotation_type": "rotation_6d",
            "rotation_6d_layout": "first_two_rows",
            "absolute": true,
            "dtype": "float32",
            "original_key": "observation.state"
        },
        "right_eef_gripper": {
            "start": 9,
            "end": 10,
            "absolute": true,
            "dtype": "float32",
            "unit": "rad",
            "original_key": "observation.state"
        },
        "left_eef_pose": {
            "start": 10,
            "end": 19,
            "rotation_type": "rotation_6d",
            "rotation_6d_layout": "first_two_rows",
            "absolute": true,
            "dtype": "float32",
            "original_key": "observation.state"
        },
        "left_eef_gripper": {
            "start": 19,
            "end": 20,
            "absolute": true,
            "dtype": "float32",
            "unit": "rad",
            "original_key": "observation.state"
        }
    },
    "action": {
        "right_eef_pose": {
            "start": 0,
            "end": 9,
            "rotation_type": "rotation_6d",
            "rotation_6d_layout": "first_two_rows",
            "absolute": true,
            "dtype": "float32",
            "original_key": "action"
        },
        "right_eef_gripper": {
            "start": 9,
            "end": 10,
            "absolute": true,
            "dtype": "float32",
            "unit": "rad",
            "original_key": "action"
        },
        "left_eef_pose": {
            "start": 10,
            "end": 19,
            "rotation_type": "rotation_6d",
            "rotation_6d_layout": "first_two_rows",
            "absolute": true,
            "dtype": "float32",
            "original_key": "action"
        },
        "left_eef_gripper": {
            "start": 19,
            "end": 20,
            "absolute": true,
            "dtype": "float32",
            "unit": "rad",
            "original_key": "action"
        }
    },
    "video": {
        "head_main": {
            "original_key": "observation.images.head_main"
        },
        "head_main_stereo_right": {
            "original_key": "observation.images.head_main_stereo_right"
        },
        "left_hand_down": {
            "original_key": "observation.images.left_hand_down"
        },
        "left_hand_up": {
            "original_key": "observation.images.left_hand_up"
        },
        "right_hand_down": {
            "original_key": "observation.images.right_hand_down"
        },
        "right_hand_up": {
            "original_key": "observation.images.right_hand_up"
        }
    },
    "annotation": {
        "human.action.task_description": {
            "original_key": "task_index"
        }
    }
}