{
  "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
    },
    "sim/controller_qpos": {
      "dtype": "float32",
      "shape": [
        "T",
        16
      ],
      "finite": true
    },
    "sim/gripper_joint_positions_m": {
      "dtype": "float32",
      "shape": [
        "T",
        2,
        2
      ],
      "finite": true
    },
    "sim/gripper_requested_width_m": {
      "dtype": "float32",
      "shape": [
        "T",
        2
      ],
      "finite": true
    }
  }
}