{
  "schema_version": 1,
  "position_units": "metres",
  "quaternion_order": "xyzw",
  "endpoint_contract": "Rigid terminal-arm attachment independent of finger articulation; no universal gripper-centre TCP",
  "per_episode_frame_names": "base_frames and endpoints in each companion JSON",
  "camera_geometry": "Existing per-view camera metadata remains separate. Reprojection is not certified across all episodes.",
  "AgiBot": {
    "base_frame": "source_robot_ego",
    "endpoint": "source robot arm flange",
    "orientation": "xyzw",
    "source": "https://huggingface.co/datasets/agibot-world/AgiBotWorld-Beta#explanation-of-proprioceptive-state",
    "state_pose_source": "state/end/position and state/end/orientation",
    "command_pose_source": "action/end/position and action/end/orientation",
    "exact_URDF_root_origin_independently_verified": false,
    "command_alignment": "Dense same-frame or explicit sparse source indices; unresolved indices are masked, not filled from states."
  }
}