{
  "schema_version": 1,
  "default_action_space": "joint_abs",
  "canonical_lerobot_action": "action",
  "state": {
    "field": "observation.state",
    "dimension": 9,
    "layout": [
      "j0",
      "j1",
      "j2",
      "j3",
      "j4",
      "j5",
      "j6",
      "g_left",
      "g_right"
    ]
  },
  "spaces": {
    "joint_abs": {
      "field": "action.joint_abs",
      "dimension": 9
    },
    "ee_abs_quat": {
      "field": "action.ee_abs_quat",
      "dimension": 9
    },
    "ee_abs_rot6d": {
      "field": "action.ee_abs_rot6d",
      "dimension": 11
    },
    "ee_delta": {
      "field": "action.ee_delta",
      "dimension": 8
    }
  },
  "conventions": {
    "verification_reference": "FK of source dataset action[:, :7]",
    "source_fk_frame": "right_gripper",
    "source_fk_to_tcp_translation_m": [
      0.0,
      0.0,
      0.0034
    ],
    "source_fk_to_tcp_rotation_matrix": [
      [
        -1.0,
        0.0,
        0.0
      ],
      [
        0.0,
        -1.0,
        0.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "ee_abs_quat_order": "wxyz; canonicalized to qw >= 0",
    "ee_abs_rot6d": "first two rotation-matrix columns concatenated",
    "ee_delta_frame": "robot base",
    "ee_delta_reference": "previous action target within the same episode",
    "ee_delta_first_action": "exact zero pose delta with absolute gripper",
    "ee_delta_seed": "meta/episodes action.ee_delta.seed_position and seed_quaternion_wxyz",
    "fingers": "absolute g_left and g_right copied bitwise from source action[:, 7:9] in every space"
  },
  "views": {
    "included": [
      "front",
      "left",
      "wrist"
    ],
    "excluded": [
      "base",
      "wrist_bottom"
    ]
  },
  "training": {
    "selection_argument": "--action-space joint_abs|ee_abs_quat|ee_abs_rot6d|ee_delta",
    "padding": "normalize native active dimensions first, then model-side pad and mask"
  }
}