{
  "action_profile": {
    "type": "joint_fk",
    "action_space": "leroboteef_abs_direct_g2fk",
    "fk_backend": "g2fk"
  },
  "fps": 30,
  "features": {
    "action": {
      "shape": [
        24
      ],
      "field_descriptions": {
        "action/left_effector/position": {
          "indices": [
            0
          ]
        },
        "action/right_effector/position": {
          "indices": [
            1
          ]
        },
        "action/joint/position": {
          "indices": [
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15
          ]
        },
        "action/head/position": {
          "indices": [
            16,
            17,
            18
          ]
        },
        "action/waist/position": {
          "indices": [
            19,
            20,
            21,
            22,
            23
          ]
        }
      }
    },
    "observation.state": {
      "shape": [
        60
      ],
      "field_descriptions": {
        "state/left_effector/position": {
          "indices": [
            0
          ]
        },
        "state/right_effector/position": {
          "indices": [
            1
          ]
        },
        "state/joint/position": {
          "indices": [
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15
          ]
        },
        "state/head/position": {
          "indices": [
            16,
            17,
            18
          ]
        },
        "state/waist/position": {
          "indices": [
            19,
            20,
            21,
            22,
            23
          ]
        },
        "head_extrinsic_params_aligned/rotation_matrix": {
          "indices": [
            24,
            25,
            26,
            27,
            28,
            29,
            30,
            31,
            32
          ]
        },
        "head_extrinsic_params_aligned/translation_vector": {
          "indices": [
            33,
            34,
            35
          ]
        },
        "hand_left_extrinsic_params_aligned/rotation_matrix": {
          "indices": [
            36,
            37,
            38,
            39,
            40,
            41,
            42,
            43,
            44
          ]
        },
        "hand_left_extrinsic_params_aligned/translation_vector": {
          "indices": [
            45,
            46,
            47
          ]
        },
        "hand_right_extrinsic_params_aligned/rotation_matrix": {
          "indices": [
            48,
            49,
            50,
            51,
            52,
            53,
            54,
            55,
            56
          ]
        },
        "hand_right_extrinsic_params_aligned/translation_vector": {
          "indices": [
            57,
            58,
            59
          ]
        }
      }
    }
  },
  "camera_parameters": {
    "0": {
      "head_intrinsic_params": {
        "fx": 306.0139160156,
        "fy": 305.9658508301,
        "ppx": 321.2616882324,
        "ppy": 203.0249176025
      },
      "hand_left_intrinsic_params": {
        "fx": 243.17500063118575,
        "fy": 243.0459058824852,
        "ppx": 322.33388449029604,
        "ppy": 262.17126925922935
      },
      "hand_right_intrinsic_params": {
        "fx": 243.97452307142947,
        "fy": 243.79031568777526,
        "ppx": 320.3091322634185,
        "ppy": 261.4021739842353
      }
    },
    "1": {
      "head_intrinsic_params": {
        "fx": 306.0139160156,
        "fy": 305.9658508301,
        "ppx": 321.2616882324,
        "ppy": 203.0249176025
      },
      "hand_left_intrinsic_params": {
        "fx": 243.17500063118575,
        "fy": 243.0459058824852,
        "ppx": 322.33388449029604,
        "ppy": 262.17126925922935
      },
      "hand_right_intrinsic_params": {
        "fx": 243.97452307142947,
        "fy": 243.79031568777526,
        "ppx": 320.3091322634185,
        "ppy": 261.4021739842353
      }
    },
    "2": {
      "head_intrinsic_params": {
        "fx": 306.0139160156,
        "fy": 305.9658508301,
        "ppx": 321.2616882324,
        "ppy": 203.0249176025
      },
      "hand_left_intrinsic_params": {
        "fx": 243.17500063118575,
        "fy": 243.0459058824852,
        "ppx": 322.33388449029604,
        "ppy": 262.17126925922935
      },
      "hand_right_intrinsic_params": {
        "fx": 243.97452307142947,
        "fy": 243.79031568777526,
        "ppx": 320.3091322634185,
        "ppy": 261.4021739842353
      }
    },
    "3": {
      "head_intrinsic_params": {
        "fx": 305.0854797363,
        "fy": 304.8735961914,
        "ppx": 319.2227478027,
        "ppy": 202.9043579102
      },
      "hand_left_intrinsic_params": {
        "fx": 234.73056210235166,
        "fy": 234.62865554107614,
        "ppx": 306.2527574226533,
        "ppy": 267.05544446368117
      },
      "hand_right_intrinsic_params": {
        "fx": 240.910597457545,
        "fy": 240.74958533710125,
        "ppx": 320.6038565256754,
        "ppy": 262.73871098837964
      }
    },
    "4": {
      "head_intrinsic_params": {
        "fx": 305.0854797363,
        "fy": 304.8735961914,
        "ppx": 319.2227478027,
        "ppy": 202.9043579102
      },
      "hand_left_intrinsic_params": {
        "fx": 234.73056210235166,
        "fy": 234.62865554107614,
        "ppx": 306.2527574226533,
        "ppy": 267.05544446368117
      },
      "hand_right_intrinsic_params": {
        "fx": 240.910597457545,
        "fy": 240.74958533710125,
        "ppx": 320.6038565256754,
        "ppy": 262.73871098837964
      }
    },
    "5": {
      "head_intrinsic_params": {
        "fx": 306.0139160156,
        "fy": 305.9658508301,
        "ppx": 321.2616882324,
        "ppy": 203.0249176025
      },
      "hand_left_intrinsic_params": {
        "fx": 243.17500063118575,
        "fy": 243.0459058824852,
        "ppx": 322.33388449029604,
        "ppy": 262.17126925922935
      },
      "hand_right_intrinsic_params": {
        "fx": 243.97452307142947,
        "fy": 243.79031568777526,
        "ppx": 320.3091322634185,
        "ppy": 261.4021739842353
      }
    },
    "6": {
      "head_intrinsic_params": {
        "fx": 305.0854797363,
        "fy": 304.8735961914,
        "ppx": 319.2227478027,
        "ppy": 202.9043579102
      },
      "hand_left_intrinsic_params": {
        "fx": 234.73056210235166,
        "fy": 234.62865554107614,
        "ppx": 306.2527574226533,
        "ppy": 267.05544446368117
      },
      "hand_right_intrinsic_params": {
        "fx": 240.910597457545,
        "fy": 240.74958533710125,
        "ppx": 320.6038565256754,
        "ppy": 262.73871098837964
      }
    },
    "7": {
      "head_intrinsic_params": {
        "fx": 306.0139160156,
        "fy": 305.9658508301,
        "ppx": 321.2616882324,
        "ppy": 203.0249176025
      },
      "hand_left_intrinsic_params": {
        "fx": 243.17500063118575,
        "fy": 243.0459058824852,
        "ppx": 322.33388449029604,
        "ppy": 262.17126925922935
      },
      "hand_right_intrinsic_params": {
        "fx": 243.97452307142947,
        "fy": 243.79031568777526,
        "ppx": 320.3091322634185,
        "ppy": 261.4021739842353
      }
    },
    "8": {
      "head_intrinsic_params": {
        "fx": 306.0139160156,
        "fy": 305.9658508301,
        "ppx": 321.2616882324,
        "ppy": 203.0249176025
      },
      "hand_left_intrinsic_params": {
        "fx": 243.17500063118575,
        "fy": 243.0459058824852,
        "ppx": 322.33388449029604,
        "ppy": 262.17126925922935
      },
      "hand_right_intrinsic_params": {
        "fx": 243.97452307142947,
        "fy": 243.79031568777526,
        "ppx": 320.3091322634185,
        "ppy": 261.4021739842353
      }
    },
    "9": {
      "head_intrinsic_params": {
        "fx": 305.0854797363,
        "fy": 304.8735961914,
        "ppx": 319.2227478027,
        "ppy": 202.9043579102
      },
      "hand_left_intrinsic_params": {
        "fx": 234.73056210235166,
        "fy": 234.62865554107614,
        "ppx": 306.2527574226533,
        "ppy": 267.05544446368117
      },
      "hand_right_intrinsic_params": {
        "fx": 240.910597457545,
        "fy": 240.74958533710125,
        "ppx": 320.6038565256754,
        "ppy": 262.73871098837964
      }
    },
    "10": {
      "head_intrinsic_params": {
        "fx": 305.0854797363,
        "fy": 304.8735961914,
        "ppx": 319.2227478027,
        "ppy": 202.9043579102
      },
      "hand_left_intrinsic_params": {
        "fx": 234.73056210235166,
        "fy": 234.62865554107614,
        "ppx": 306.2527574226533,
        "ppy": 267.05544446368117
      },
      "hand_right_intrinsic_params": {
        "fx": 240.910597457545,
        "fy": 240.74958533710125,
        "ppx": 320.6038565256754,
        "ppy": 262.73871098837964
      }
    },
    "11": {
      "head_intrinsic_params": {
        "fx": 306.0139160156,
        "fy": 305.9658508301,
        "ppx": 321.2616882324,
        "ppy": 203.0249176025
      },
      "hand_left_intrinsic_params": {
        "fx": 243.17500063118575,
        "fy": 243.0459058824852,
        "ppx": 322.33388449029604,
        "ppy": 262.17126925922935
      },
      "hand_right_intrinsic_params": {
        "fx": 243.97452307142947,
        "fy": 243.79031568777526,
        "ppx": 320.3091322634185,
        "ppy": 261.4021739842353
      }
    },
    "12": {
      "head_intrinsic_params": {
        "fx": 306.0139160156,
        "fy": 305.9658508301,
        "ppx": 321.2616882324,
        "ppy": 203.0249176025
      },
      "hand_left_intrinsic_params": {
        "fx": 243.17500063118575,
        "fy": 243.0459058824852,
        "ppx": 322.33388449029604,
        "ppy": 262.17126925922935
      },
      "hand_right_intrinsic_params": {
        "fx": 243.97452307142947,
        "fy": 243.79031568777526,
        "ppx": 320.3091322634185,
        "ppy": 261.4021739842353
      }
    },
    "13": {
      "head_intrinsic_params": {
        "fx": 306.0139160156,
        "fy": 305.9658508301,
        "ppx": 321.2616882324,
        "ppy": 203.0249176025
      },
      "hand_left_intrinsic_params": {
        "fx": 243.17500063118575,
        "fy": 243.0459058824852,
        "ppx": 322.33388449029604,
        "ppy": 262.17126925922935
      },
      "hand_right_intrinsic_params": {
        "fx": 243.97452307142947,
        "fy": 243.79031568777526,
        "ppx": 320.3091322634185,
        "ppy": 261.4021739842353
      }
    },
    "14": {
      "head_intrinsic_params": {
        "fx": 306.0139160156,
        "fy": 305.9658508301,
        "ppx": 321.2616882324,
        "ppy": 203.0249176025
      },
      "hand_left_intrinsic_params": {
        "fx": 243.17500063118575,
        "fy": 243.0459058824852,
        "ppx": 322.33388449029604,
        "ppy": 262.17126925922935
      },
      "hand_right_intrinsic_params": {
        "fx": 243.97452307142947,
        "fy": 243.79031568777526,
        "ppx": 320.3091322634185,
        "ppy": 261.4021739842353
      }
    }
  }
}