{
  "name": "tower_simdata_hdf5",
  "root_schema_version": "jenga_nero_hdf5_v8_camera_orientation",
  "frame_symbol": "T",
  "required_attributes": {
    "recording_complete": true,
    "fps": 30.0,
    "image_encoding": "jpeg",
    "arm_order": "[\"left\", \"back\"]",
    "action_alignment": "row observation precedes action interval; terminal row action_valid=false"
  },
  "required_datasets": {
    "observations/qpos": {"dtype": "float32", "shape": ["T", 16], "finite": true},
    "leader/qpos": {"dtype": "float32", "shape": ["T", 16], "finite": true},
    "observations/eef": {"dtype": "float32", "shape": ["T", 14], "finite": true},
    "leader/eef": {"dtype": "float32", "shape": ["T", 14], "finite": true},
    "observations/gripper_status": {"dtype": "float32", "shape": ["T", 8], "finite": true},
    "observations/images/left_back_camera": {"dtype": "vlen-bytes", "shape": ["T"], "encoding": "jpeg"},
    "observations/images/right_front_camera": {"dtype": "vlen-bytes", "shape": ["T"], "encoding": "jpeg"},
    "observations/images/left_wrist_camera": {"dtype": "vlen-bytes", "shape": ["T"], "encoding": "jpeg"},
    "observations/images/back_wrist_camera": {"dtype": "vlen-bytes", "shape": ["T"], "encoding": "jpeg"},
    "observations/lifter/position_mm": {"dtype": "float32", "shape": ["T", 2], "finite": true},
    "observations/lifter/physical_height_mm": {"dtype": "float32", "shape": ["T", 2], "finite": true},
    "observations/lifter/is_moving": {"dtype": "uint8", "shape": ["T", 2]},
    "observations/lifter/sample_age_ms": {"dtype": "float32", "shape": ["T", 2], "finite": true},
    "observations/lifter/valid": {"dtype": "uint8", "shape": ["T", 2]},
    "lifter/action_mm": {"dtype": "float32", "shape": ["T", 2], "finite": true},
    "lifter/active_target_mm": {"dtype": "float32", "shape": ["T", 2], "finite": true},
    "lifter/command_delta_mm": {"dtype": "int16", "shape": ["T", 2]},
    "sim/action_valid": {"dtype": "bool", "shape": ["T"]},
    "sim/active_block": {"dtype": "int16", "shape": ["T"]},
    "sim/block_poses": {"dtype": "float32", "shape": ["T", "B", 7], "finite": true},
    "sim/block_released": {"dtype": "bool", "shape": ["T", "B"]},
    "sim/block_velocities": {"dtype": "float32", "shape": ["T", "B", 6], "finite": true},
    "sim/collapse": {"dtype": "bool", "shape": ["T"]},
    "sim/event_count": {"dtype": "int32", "shape": ["T"]},
    "sim/joint_efforts": {"dtype": "float32", "shape": ["T", 16], "finite": true},
    "sim/joint_velocities": {"dtype": "float32", "shape": ["T", 16], "finite": true},
    "sim/recovery_attempt": {"dtype": "int16", "shape": ["T"]},
    "sim/success": {"dtype": "bool", "shape": ["T"]},
    "sim/task_phase": {"dtype": "int16", "shape": ["T"]},
    "sim/task_progress": {"dtype": "float32", "shape": ["T", 2], "finite": true},
    "sim/terminal": {"dtype": "bool", "shape": ["T"]},
    "sim/time": {"dtype": "float64", "shape": ["T"], "finite": true},
    "timestamps/row_ros_ns": {"dtype": "int64", "shape": ["T", 1]},
    "timestamps/lifter_command_ros_ns": {"dtype": "int64", "shape": ["T", 2]},
    "timestamps/lifter_source_before_ns": {"dtype": "int64", "shape": ["T", 2]},
    "timestamps/lifter_source_after_ns": {"dtype": "int64", "shape": ["T", 2]},
    "timestamps/lifter_sync_error_ns": {"dtype": "int64", "shape": ["T", 2]}
  },
  "optional_datasets": {
    "keyframes": {"dtype": "int64", "shape": ["K"]},
    "sim/finger_pad_centers_m": {"dtype": "float64", "shape": ["T", 2, 2, 3], "finite": true}
  }
}