{
  "codebase_version": "v3.0",
  "robot_type": "xarm6",
  "total_episodes": 58,
  "total_frames": 11247,
  "total_tasks": 9,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "fps": 30,
  "splits": {
    "train": "0:58"
  },
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
  "features": {
    "action": {
      "dtype": "float32",
      "shape": [
        10
      ],
      "names": [
        "x",
        "y",
        "z",
        "rot_6d_0",
        "rot_6d_1",
        "rot_6d_2",
        "rot_6d_3",
        "rot_6d_4",
        "rot_6d_5",
        "gripper"
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        16
      ],
      "names": [
        "x",
        "y",
        "z",
        "rot_6d_0",
        "rot_6d_1",
        "rot_6d_2",
        "rot_6d_3",
        "rot_6d_4",
        "rot_6d_5",
        "gripper",
        "joint_1",
        "joint_2",
        "joint_3",
        "joint_4",
        "joint_5",
        "joint_6"
      ]
    },
    "observation.images.wrist_stereo": {
      "dtype": "video",
      "shape": [
        720,
        2304,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "camera_metadata": {
        "camera_type": "zed_subproc",
        "fps": 30,
        "width": 2304,
        "height": 720,
        "intrinsics": {
          "host": "192.168.2.1",
          "port": 30006,
          "view": "stereo",
          "output_width": 2304,
          "output_height": 720,
          "color": "rgb",
          "serial_number": 57349359,
          "camera_model": "ZED X Mini",
          "input_resolution": {
            "width": 1920,
            "height": 1200
          },
          "left": {
            "fx": 432.0535034179687,
            "fy": 432.0535034179687,
            "cx": 590.267724609375,
            "cy": 362.6883544921875,
            "width": 1152,
            "height": 720,
            "distortion": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "h_fov": 106.25653076171875,
            "v_fov": 79.60650634765625,
            "scale_x": 0.6,
            "scale_y": 0.6,
            "x_offset_px": 0,
            "packed_cx": 590.267724609375
          },
          "right": {
            "fx": 432.0535034179687,
            "fy": 432.0535034179687,
            "cx": 590.267724609375,
            "cy": 362.6883544921875,
            "width": 1152,
            "height": 720,
            "distortion": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "h_fov": 106.25653076171875,
            "v_fov": 79.60650634765625,
            "scale_x": 0.6,
            "scale_y": 0.6,
            "x_offset_px": 1152,
            "packed_cx": 1742.267724609375
          },
          "native_intrinsics": {
            "left": {
              "fx": 720.0891723632812,
              "fy": 720.0891723632812,
              "cx": 983.779541015625,
              "cy": 604.4805908203125,
              "width": 1920,
              "height": 1200,
              "distortion": [
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0
              ],
              "h_fov": 106.25653076171875,
              "v_fov": 79.60650634765625
            },
            "right": {
              "fx": 720.0891723632812,
              "fy": 720.0891723632812,
              "cx": 983.779541015625,
              "cy": 604.4805908203125,
              "width": 1920,
              "height": 1200,
              "distortion": [
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0
              ],
              "h_fov": 106.25653076171875,
              "v_fov": 79.60650634765625
            }
          },
          "output_layout": {
            "view": "stereo",
            "packed_width": 2304,
            "packed_height": 720,
            "eye_width": 1152,
            "eye_height": 720,
            "aspect_ratio_preserved": true
          },
          "baseline_m": 0.049877509474754333
        },
        "latency_calibration": {
          "created_at": 1784665626.4294765,
          "marker": {
            "dictionary": "DICT_4X4_50",
            "id": 0
          },
          "samples_target_per_camera": 10,
          "detection": {
            "target_fps": 60.0,
            "min_missing_frames": 2,
            "detect_max_width": 960,
            "frame_source": "zed_subproc_shared_memory"
          },
          "trials_completed": 40,
          "rtt_samples_ms": [
            5.4000000059604645,
            14.400000005960464,
            70.2000000178814,
            15.700000017881393,
            67.40000000596046,
            24.5,
            22.0,
            71.0,
            16.299999982118607,
            24.200000017881393,
            23.5,
            21.700000017881393,
            7.199999988079071,
            20.099999994039536,
            22.599999994039536,
            21.299999982118607,
            24.5,
            23.099999994039536,
            21.900000005960464,
            24.400000005960464,
            22.599999994039536,
            22.799999982118607,
            15.300000011920929,
            12.200000017881393,
            23.200000017881393,
            23.69999998807907,
            15.099999994039536,
            22.799999982118607,
            20.19999998807907,
            22.5,
            15.099999994039536,
            13.599999994039536,
            69.09999999403954,
            66.69999998807907,
            22.900000005960464,
            25.0,
            23.099999994039536,
            13.700000017881393,
            22.700000017881393,
            12.900000005960464,
            21.30000001192093,
            13.400000005960464,
            24.5,
            13.799999982118607,
            21.899999976158142,
            22.30000001192093,
            15.099999994039536,
            14.100000023841858,
            23.19999998807907,
            24.19999998807907,
            25.30000001192093,
            23.5,
            26.5,
            15.900000005960464,
            18.5,
            101.09999999403954,
            23.700000017881393,
            69.19999998807907,
            14.300000011920929,
            13.200000017881393,
            22.5,
            14.5,
            23.400000005960464,
            23.30000001192093,
            22.69999998807907,
            22.0,
            23.599999994039536,
            23.5,
            10.800000011920929,
            23.30000001192093,
            24.80000001192093,
            23.799999982118607,
            23.599999994039536,
            9.699999988079071,
            25.900000005960464,
            13.399999976158142,
            22.5,
            23.0,
            13.800000011920929,
            25.0,
            68.80000001192093,
            23.5,
            13.0,
            11.199999988079071,
            15.400000005960464,
            23.69999998807907,
            16.900000005960464,
            22.799999982118607,
            14.5,
            15.699999988079071,
            22.0,
            12.5,
            25.400000005960464,
            23.80000001192093,
            24.0,
            25.19999998807907,
            12.5,
            62.599999994039536,
            7.5,
            13.600000023841858,
            23.5,
            21.099999994039536,
            22.0,
            22.899999976158142
          ],
          "raw_measurements": [
            {
              "trial_index": 11,
              "camera": "wrist_stereo",
              "hide_server_ts_ns": 1784665556428758784,
              "disappear_ts_ns": 1784665556614940160,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 186.181376,
              "corrected_ms": 186.181376,
              "min_missing_frames": 2
            },
            {
              "trial_index": 12,
              "camera": "wrist_stereo",
              "hide_server_ts_ns": 1784665558440034048,
              "disappear_ts_ns": 1784665558722269696,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 282.235648,
              "corrected_ms": 282.235648,
              "min_missing_frames": 2
            },
            {
              "trial_index": 13,
              "camera": "wrist_stereo",
              "hide_server_ts_ns": 1784665560438733824,
              "disappear_ts_ns": 1784665560617302528,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 178.568704,
              "corrected_ms": 178.568704,
              "min_missing_frames": 2
            },
            {
              "trial_index": 14,
              "camera": "wrist_stereo",
              "hide_server_ts_ns": 1784665562449706752,
              "disappear_ts_ns": 1784665562616709632,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 167.00288,
              "corrected_ms": 167.00288,
              "min_missing_frames": 2
            },
            {
              "trial_index": 15,
              "camera": "wrist_stereo",
              "hide_server_ts_ns": 1784665564447906816,
              "disappear_ts_ns": 1784665564636462848,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 188.556032,
              "corrected_ms": 188.556032,
              "min_missing_frames": 2
            },
            {
              "trial_index": 16,
              "camera": "wrist_stereo",
              "hide_server_ts_ns": 1784665566427206912,
              "disappear_ts_ns": 1784665566609043456,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 181.836544,
              "corrected_ms": 181.836544,
              "min_missing_frames": 2
            },
            {
              "trial_index": 17,
              "camera": "wrist_stereo",
              "hide_server_ts_ns": 1784665568440580096,
              "disappear_ts_ns": 1784665568603656704,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 163.076608,
              "corrected_ms": 163.076608,
              "min_missing_frames": 2
            },
            {
              "trial_index": 18,
              "camera": "wrist_stereo",
              "hide_server_ts_ns": 1784665570438374144,
              "disappear_ts_ns": 1784665570687242496,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 248.868352,
              "corrected_ms": 248.868352,
              "min_missing_frames": 2
            },
            {
              "trial_index": 19,
              "camera": "wrist_stereo",
              "hide_server_ts_ns": 1784665572435427072,
              "disappear_ts_ns": 1784665572626772480,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 191.345408,
              "corrected_ms": 191.345408,
              "min_missing_frames": 2
            },
            {
              "trial_index": 20,
              "camera": "wrist_stereo",
              "hide_server_ts_ns": 1784665574448273152,
              "disappear_ts_ns": 1784665574634047488,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 185.774336,
              "corrected_ms": 185.774336,
              "min_missing_frames": 2
            }
          ],
          "summary": {
            "camera": "wrist_stereo",
            "n_samples": 10,
            "mean_ms": 197.3445888,
            "std_ms": 37.88997841956268,
            "min_ms": 163.076608,
            "max_ms": 282.235648,
            "samples_ms": [
              186.181376,
              282.235648,
              178.568704,
              167.00288,
              188.556032,
              181.836544,
              163.076608,
              248.868352,
              191.345408,
              185.774336
            ]
          },
          "camera_name": "wrist_stereo"
        },
        "host": "192.168.2.1",
        "port": 30006,
        "view": "stereo"
      },
      "info": {
        "video.height": 720,
        "video.width": 2304,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.agent_stereo": {
      "dtype": "video",
      "shape": [
        720,
        2304,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "camera_metadata": {
        "camera_type": "zed_subproc",
        "fps": 30,
        "width": 2304,
        "height": 720,
        "intrinsics": {
          "host": "192.168.2.1",
          "port": 30000,
          "view": "stereo",
          "output_width": 2304,
          "output_height": 720,
          "color": "rgb",
          "serial_number": 45497847,
          "camera_model": "ZED X",
          "input_resolution": {
            "width": 1920,
            "height": 1200
          },
          "left": {
            "fx": 434.38088378906247,
            "fy": 434.38088378906247,
            "cx": 588.1724487304688,
            "cy": 361.5769409179687,
            "width": 1152,
            "height": 720,
            "distortion": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "h_fov": 105.9607925415039,
            "v_fov": 79.30388641357422,
            "scale_x": 0.6,
            "scale_y": 0.6,
            "x_offset_px": 0,
            "packed_cx": 588.1724487304688
          },
          "right": {
            "fx": 434.38088378906247,
            "fy": 434.38088378906247,
            "cx": 588.1724487304688,
            "cy": 361.5769409179687,
            "width": 1152,
            "height": 720,
            "distortion": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "h_fov": 105.9607925415039,
            "v_fov": 79.30388641357422,
            "scale_x": 0.6,
            "scale_y": 0.6,
            "x_offset_px": 1152,
            "packed_cx": 1740.1724487304687
          },
          "native_intrinsics": {
            "left": {
              "fx": 723.9681396484375,
              "fy": 723.9681396484375,
              "cx": 980.2874145507812,
              "cy": 602.6282348632812,
              "width": 1920,
              "height": 1200,
              "distortion": [
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0
              ],
              "h_fov": 105.9607925415039,
              "v_fov": 79.30388641357422
            },
            "right": {
              "fx": 723.9681396484375,
              "fy": 723.9681396484375,
              "cx": 980.2874145507812,
              "cy": 602.6282348632812,
              "width": 1920,
              "height": 1200,
              "distortion": [
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0
              ],
              "h_fov": 105.9607925415039,
              "v_fov": 79.30388641357422
            }
          },
          "output_layout": {
            "view": "stereo",
            "packed_width": 2304,
            "packed_height": 720,
            "eye_width": 1152,
            "eye_height": 720,
            "aspect_ratio_preserved": true
          },
          "baseline_m": 0.12008335441350937
        },
        "latency_calibration": {
          "created_at": 1784665626.4294765,
          "marker": {
            "dictionary": "DICT_4X4_50",
            "id": 0
          },
          "samples_target_per_camera": 10,
          "detection": {
            "target_fps": 60.0,
            "min_missing_frames": 2,
            "detect_max_width": 960,
            "frame_source": "zed_subproc_shared_memory"
          },
          "trials_completed": 40,
          "rtt_samples_ms": [
            5.4000000059604645,
            14.400000005960464,
            70.2000000178814,
            15.700000017881393,
            67.40000000596046,
            24.5,
            22.0,
            71.0,
            16.299999982118607,
            24.200000017881393,
            23.5,
            21.700000017881393,
            7.199999988079071,
            20.099999994039536,
            22.599999994039536,
            21.299999982118607,
            24.5,
            23.099999994039536,
            21.900000005960464,
            24.400000005960464,
            22.599999994039536,
            22.799999982118607,
            15.300000011920929,
            12.200000017881393,
            23.200000017881393,
            23.69999998807907,
            15.099999994039536,
            22.799999982118607,
            20.19999998807907,
            22.5,
            15.099999994039536,
            13.599999994039536,
            69.09999999403954,
            66.69999998807907,
            22.900000005960464,
            25.0,
            23.099999994039536,
            13.700000017881393,
            22.700000017881393,
            12.900000005960464,
            21.30000001192093,
            13.400000005960464,
            24.5,
            13.799999982118607,
            21.899999976158142,
            22.30000001192093,
            15.099999994039536,
            14.100000023841858,
            23.19999998807907,
            24.19999998807907,
            25.30000001192093,
            23.5,
            26.5,
            15.900000005960464,
            18.5,
            101.09999999403954,
            23.700000017881393,
            69.19999998807907,
            14.300000011920929,
            13.200000017881393,
            22.5,
            14.5,
            23.400000005960464,
            23.30000001192093,
            22.69999998807907,
            22.0,
            23.599999994039536,
            23.5,
            10.800000011920929,
            23.30000001192093,
            24.80000001192093,
            23.799999982118607,
            23.599999994039536,
            9.699999988079071,
            25.900000005960464,
            13.399999976158142,
            22.5,
            23.0,
            13.800000011920929,
            25.0,
            68.80000001192093,
            23.5,
            13.0,
            11.199999988079071,
            15.400000005960464,
            23.69999998807907,
            16.900000005960464,
            22.799999982118607,
            14.5,
            15.699999988079071,
            22.0,
            12.5,
            25.400000005960464,
            23.80000001192093,
            24.0,
            25.19999998807907,
            12.5,
            62.599999994039536,
            7.5,
            13.600000023841858,
            23.5,
            21.099999994039536,
            22.0,
            22.899999976158142
          ],
          "raw_measurements": [
            {
              "trial_index": 31,
              "camera": "agent_stereo",
              "hide_server_ts_ns": 1784665605431919360,
              "disappear_ts_ns": 1784665605640664832,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 208.745472,
              "corrected_ms": 208.745472,
              "min_missing_frames": 2
            },
            {
              "trial_index": 32,
              "camera": "agent_stereo",
              "hide_server_ts_ns": 1784665607446467584,
              "disappear_ts_ns": 1784665607641847808,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 195.380224,
              "corrected_ms": 195.380224,
              "min_missing_frames": 2
            },
            {
              "trial_index": 33,
              "camera": "agent_stereo",
              "hide_server_ts_ns": 1784665609444167680,
              "disappear_ts_ns": 1784665609664186624,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 220.018944,
              "corrected_ms": 220.018944,
              "min_missing_frames": 2
            },
            {
              "trial_index": 34,
              "camera": "agent_stereo",
              "hide_server_ts_ns": 1784665611439931392,
              "disappear_ts_ns": 1784665611648135424,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 208.204032,
              "corrected_ms": 208.204032,
              "min_missing_frames": 2
            },
            {
              "trial_index": 35,
              "camera": "agent_stereo",
              "hide_server_ts_ns": 1784665613452459264,
              "disappear_ts_ns": 1784665613698232064,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 245.7728,
              "corrected_ms": 245.7728,
              "min_missing_frames": 2
            },
            {
              "trial_index": 36,
              "camera": "agent_stereo",
              "hide_server_ts_ns": 1784665615433259264,
              "disappear_ts_ns": 1784665615667309568,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 234.050304,
              "corrected_ms": 234.050304,
              "min_missing_frames": 2
            },
            {
              "trial_index": 37,
              "camera": "agent_stereo",
              "hide_server_ts_ns": 1784665617430220032,
              "disappear_ts_ns": 1784665617627117824,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 196.897792,
              "corrected_ms": 196.897792,
              "min_missing_frames": 2
            },
            {
              "trial_index": 38,
              "camera": "agent_stereo",
              "hide_server_ts_ns": 1784665619444419840,
              "disappear_ts_ns": 1784665619475951872,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 31.532032,
              "corrected_ms": 31.532032,
              "min_missing_frames": 2
            },
            {
              "trial_index": 39,
              "camera": "agent_stereo",
              "hide_server_ts_ns": 1784665623432415232,
              "disappear_ts_ns": 1784665623671936000,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 239.520768,
              "corrected_ms": 239.520768,
              "min_missing_frames": 2
            },
            {
              "trial_index": 40,
              "camera": "agent_stereo",
              "hide_server_ts_ns": 1784665625453514240,
              "disappear_ts_ns": 1784665625672806912,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 219.292672,
              "corrected_ms": 219.292672,
              "min_missing_frames": 2
            }
          ],
          "summary": {
            "camera": "agent_stereo",
            "n_samples": 10,
            "mean_ms": 199.941504,
            "std_ms": 61.595099289157986,
            "min_ms": 31.532032,
            "max_ms": 245.7728,
            "samples_ms": [
              208.745472,
              195.380224,
              220.018944,
              208.204032,
              245.7728,
              234.050304,
              196.897792,
              31.532032,
              239.520768,
              219.292672
            ]
          },
          "camera_name": "agent_stereo"
        },
        "host": "192.168.2.1",
        "port": 30000,
        "view": "stereo"
      },
      "info": {
        "video.height": 720,
        "video.width": 2304,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.left_stereo": {
      "dtype": "video",
      "shape": [
        720,
        2304,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "camera_metadata": {
        "camera_type": "zed_subproc",
        "fps": 30,
        "width": 2304,
        "height": 720,
        "intrinsics": {
          "host": "192.168.2.1",
          "port": 30002,
          "view": "stereo",
          "output_width": 2304,
          "output_height": 720,
          "color": "rgb",
          "serial_number": 48120998,
          "camera_model": "ZED X",
          "input_resolution": {
            "width": 1920,
            "height": 1200
          },
          "left": {
            "fx": 444.425390625,
            "fy": 444.425390625,
            "cx": 593.7650756835938,
            "cy": 381.4958862304687,
            "width": 1152,
            "height": 720,
            "distortion": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "h_fov": 104.69755554199219,
            "v_fov": 78.0196533203125,
            "scale_x": 0.6,
            "scale_y": 0.6,
            "x_offset_px": 0,
            "packed_cx": 593.7650756835938
          },
          "right": {
            "fx": 444.425390625,
            "fy": 444.425390625,
            "cx": 593.7650756835938,
            "cy": 381.4958862304687,
            "width": 1152,
            "height": 720,
            "distortion": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "h_fov": 104.69755554199219,
            "v_fov": 78.0196533203125,
            "scale_x": 0.6,
            "scale_y": 0.6,
            "x_offset_px": 1152,
            "packed_cx": 1745.7650756835938
          },
          "native_intrinsics": {
            "left": {
              "fx": 740.708984375,
              "fy": 740.708984375,
              "cx": 989.6084594726562,
              "cy": 635.8264770507812,
              "width": 1920,
              "height": 1200,
              "distortion": [
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0
              ],
              "h_fov": 104.69755554199219,
              "v_fov": 78.0196533203125
            },
            "right": {
              "fx": 740.708984375,
              "fy": 740.708984375,
              "cx": 989.6084594726562,
              "cy": 635.8264770507812,
              "width": 1920,
              "height": 1200,
              "distortion": [
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0
              ],
              "h_fov": 104.69755554199219,
              "v_fov": 78.0196533203125
            }
          },
          "output_layout": {
            "view": "stereo",
            "packed_width": 2304,
            "packed_height": 720,
            "eye_width": 1152,
            "eye_height": 720,
            "aspect_ratio_preserved": true
          },
          "baseline_m": 0.1200200542807579
        },
        "latency_calibration": {
          "created_at": 1784665626.4294765,
          "marker": {
            "dictionary": "DICT_4X4_50",
            "id": 0
          },
          "samples_target_per_camera": 10,
          "detection": {
            "target_fps": 60.0,
            "min_missing_frames": 2,
            "detect_max_width": 960,
            "frame_source": "zed_subproc_shared_memory"
          },
          "trials_completed": 40,
          "rtt_samples_ms": [
            5.4000000059604645,
            14.400000005960464,
            70.2000000178814,
            15.700000017881393,
            67.40000000596046,
            24.5,
            22.0,
            71.0,
            16.299999982118607,
            24.200000017881393,
            23.5,
            21.700000017881393,
            7.199999988079071,
            20.099999994039536,
            22.599999994039536,
            21.299999982118607,
            24.5,
            23.099999994039536,
            21.900000005960464,
            24.400000005960464,
            22.599999994039536,
            22.799999982118607,
            15.300000011920929,
            12.200000017881393,
            23.200000017881393,
            23.69999998807907,
            15.099999994039536,
            22.799999982118607,
            20.19999998807907,
            22.5,
            15.099999994039536,
            13.599999994039536,
            69.09999999403954,
            66.69999998807907,
            22.900000005960464,
            25.0,
            23.099999994039536,
            13.700000017881393,
            22.700000017881393,
            12.900000005960464,
            21.30000001192093,
            13.400000005960464,
            24.5,
            13.799999982118607,
            21.899999976158142,
            22.30000001192093,
            15.099999994039536,
            14.100000023841858,
            23.19999998807907,
            24.19999998807907,
            25.30000001192093,
            23.5,
            26.5,
            15.900000005960464,
            18.5,
            101.09999999403954,
            23.700000017881393,
            69.19999998807907,
            14.300000011920929,
            13.200000017881393,
            22.5,
            14.5,
            23.400000005960464,
            23.30000001192093,
            22.69999998807907,
            22.0,
            23.599999994039536,
            23.5,
            10.800000011920929,
            23.30000001192093,
            24.80000001192093,
            23.799999982118607,
            23.599999994039536,
            9.699999988079071,
            25.900000005960464,
            13.399999976158142,
            22.5,
            23.0,
            13.800000011920929,
            25.0,
            68.80000001192093,
            23.5,
            13.0,
            11.199999988079071,
            15.400000005960464,
            23.69999998807907,
            16.900000005960464,
            22.799999982118607,
            14.5,
            15.699999988079071,
            22.0,
            12.5,
            25.400000005960464,
            23.80000001192093,
            24.0,
            25.19999998807907,
            12.5,
            62.599999994039536,
            7.5,
            13.600000023841858,
            23.5,
            21.099999994039536,
            22.0,
            22.899999976158142
          ],
          "raw_measurements": [
            {
              "trial_index": 21,
              "camera": "left_stereo",
              "hide_server_ts_ns": 1784665580437973248,
              "disappear_ts_ns": 1784665580682143488,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 244.17024,
              "corrected_ms": 244.17024,
              "min_missing_frames": 2
            },
            {
              "trial_index": 22,
              "camera": "left_stereo",
              "hide_server_ts_ns": 1784665582451719680,
              "disappear_ts_ns": 1784665582685069568,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 233.349888,
              "corrected_ms": 233.349888,
              "min_missing_frames": 2
            },
            {
              "trial_index": 23,
              "camera": "left_stereo",
              "hide_server_ts_ns": 1784665584448371200,
              "disappear_ts_ns": 1784665584661228544,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 212.857344,
              "corrected_ms": 212.857344,
              "min_missing_frames": 2
            },
            {
              "trial_index": 24,
              "camera": "left_stereo",
              "hide_server_ts_ns": 1784665586445601792,
              "disappear_ts_ns": 1784665586665247744,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 219.645952,
              "corrected_ms": 219.645952,
              "min_missing_frames": 2
            },
            {
              "trial_index": 25,
              "camera": "left_stereo",
              "hide_server_ts_ns": 1784665588427801856,
              "disappear_ts_ns": 1784665588653112576,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 225.31072,
              "corrected_ms": 225.31072,
              "min_missing_frames": 2
            },
            {
              "trial_index": 26,
              "camera": "left_stereo",
              "hide_server_ts_ns": 1784665590441598720,
              "disappear_ts_ns": 1784665590660916992,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 219.318272,
              "corrected_ms": 219.318272,
              "min_missing_frames": 2
            },
            {
              "trial_index": 27,
              "camera": "left_stereo",
              "hide_server_ts_ns": 1784665592437509120,
              "disappear_ts_ns": 1784665592645386752,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 207.877632,
              "corrected_ms": 207.877632,
              "min_missing_frames": 2
            },
            {
              "trial_index": 28,
              "camera": "left_stereo",
              "hide_server_ts_ns": 1784665594451708928,
              "disappear_ts_ns": 1784665594664349184,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 212.640256,
              "corrected_ms": 212.640256,
              "min_missing_frames": 2
            },
            {
              "trial_index": 29,
              "camera": "left_stereo",
              "hide_server_ts_ns": 1784665596430608896,
              "disappear_ts_ns": 1784665596646778112,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 216.169216,
              "corrected_ms": 216.169216,
              "min_missing_frames": 2
            },
            {
              "trial_index": 30,
              "camera": "left_stereo",
              "hide_server_ts_ns": 1784665598442809088,
              "disappear_ts_ns": 1784665598671726848,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 228.91776,
              "corrected_ms": 228.91776,
              "min_missing_frames": 2
            }
          ],
          "summary": {
            "camera": "left_stereo",
            "n_samples": 10,
            "mean_ms": 222.02572800000002,
            "std_ms": 11.037887498271798,
            "min_ms": 207.877632,
            "max_ms": 244.17024,
            "samples_ms": [
              244.17024,
              233.349888,
              212.857344,
              219.645952,
              225.31072,
              219.318272,
              207.877632,
              212.640256,
              216.169216,
              228.91776
            ]
          },
          "camera_name": "left_stereo"
        },
        "host": "192.168.2.1",
        "port": 30002,
        "view": "stereo"
      },
      "info": {
        "video.height": 720,
        "video.width": 2304,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.front_stereo": {
      "dtype": "video",
      "shape": [
        720,
        2304,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "camera_metadata": {
        "camera_type": "zed_subproc",
        "fps": 30,
        "width": 2304,
        "height": 720,
        "intrinsics": {
          "host": "192.168.2.1",
          "port": 30008,
          "view": "stereo",
          "output_width": 2304,
          "output_height": 720,
          "color": "rgb",
          "serial_number": 59559558,
          "camera_model": "ZED X Mini",
          "input_resolution": {
            "width": 1920,
            "height": 1200
          },
          "left": {
            "fx": 439.63084716796874,
            "fy": 439.63084716796874,
            "cx": 579.0305053710937,
            "cy": 351.25393066406247,
            "width": 1152,
            "height": 720,
            "distortion": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "h_fov": 105.29788208007812,
            "v_fov": 78.6282730102539,
            "scale_x": 0.6,
            "scale_y": 0.6,
            "x_offset_px": 0,
            "packed_cx": 579.0305053710937
          },
          "right": {
            "fx": 439.63084716796874,
            "fy": 439.63084716796874,
            "cx": 579.0305053710937,
            "cy": 351.25393066406247,
            "width": 1152,
            "height": 720,
            "distortion": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "h_fov": 105.29788208007812,
            "v_fov": 78.6282730102539,
            "scale_x": 0.6,
            "scale_y": 0.6,
            "x_offset_px": 1152,
            "packed_cx": 1731.0305053710936
          },
          "native_intrinsics": {
            "left": {
              "fx": 732.7180786132812,
              "fy": 732.7180786132812,
              "cx": 965.0508422851562,
              "cy": 585.4232177734375,
              "width": 1920,
              "height": 1200,
              "distortion": [
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0
              ],
              "h_fov": 105.29788208007812,
              "v_fov": 78.6282730102539
            },
            "right": {
              "fx": 732.7180786132812,
              "fy": 732.7180786132812,
              "cx": 965.0508422851562,
              "cy": 585.4232177734375,
              "width": 1920,
              "height": 1200,
              "distortion": [
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0
              ],
              "h_fov": 105.29788208007812,
              "v_fov": 78.6282730102539
            }
          },
          "output_layout": {
            "view": "stereo",
            "packed_width": 2304,
            "packed_height": 720,
            "eye_width": 1152,
            "eye_height": 720,
            "aspect_ratio_preserved": true
          },
          "baseline_m": 0.04990626871585846
        },
        "latency_calibration": {
          "created_at": 1784665626.4294765,
          "marker": {
            "dictionary": "DICT_4X4_50",
            "id": 0
          },
          "samples_target_per_camera": 10,
          "detection": {
            "target_fps": 60.0,
            "min_missing_frames": 2,
            "detect_max_width": 960,
            "frame_source": "zed_subproc_shared_memory"
          },
          "trials_completed": 40,
          "rtt_samples_ms": [
            5.4000000059604645,
            14.400000005960464,
            70.2000000178814,
            15.700000017881393,
            67.40000000596046,
            24.5,
            22.0,
            71.0,
            16.299999982118607,
            24.200000017881393,
            23.5,
            21.700000017881393,
            7.199999988079071,
            20.099999994039536,
            22.599999994039536,
            21.299999982118607,
            24.5,
            23.099999994039536,
            21.900000005960464,
            24.400000005960464,
            22.599999994039536,
            22.799999982118607,
            15.300000011920929,
            12.200000017881393,
            23.200000017881393,
            23.69999998807907,
            15.099999994039536,
            22.799999982118607,
            20.19999998807907,
            22.5,
            15.099999994039536,
            13.599999994039536,
            69.09999999403954,
            66.69999998807907,
            22.900000005960464,
            25.0,
            23.099999994039536,
            13.700000017881393,
            22.700000017881393,
            12.900000005960464,
            21.30000001192093,
            13.400000005960464,
            24.5,
            13.799999982118607,
            21.899999976158142,
            22.30000001192093,
            15.099999994039536,
            14.100000023841858,
            23.19999998807907,
            24.19999998807907,
            25.30000001192093,
            23.5,
            26.5,
            15.900000005960464,
            18.5,
            101.09999999403954,
            23.700000017881393,
            69.19999998807907,
            14.300000011920929,
            13.200000017881393,
            22.5,
            14.5,
            23.400000005960464,
            23.30000001192093,
            22.69999998807907,
            22.0,
            23.599999994039536,
            23.5,
            10.800000011920929,
            23.30000001192093,
            24.80000001192093,
            23.799999982118607,
            23.599999994039536,
            9.699999988079071,
            25.900000005960464,
            13.399999976158142,
            22.5,
            23.0,
            13.800000011920929,
            25.0,
            68.80000001192093,
            23.5,
            13.0,
            11.199999988079071,
            15.400000005960464,
            23.69999998807907,
            16.900000005960464,
            22.799999982118607,
            14.5,
            15.699999988079071,
            22.0,
            12.5,
            25.400000005960464,
            23.80000001192093,
            24.0,
            25.19999998807907,
            12.5,
            62.599999994039536,
            7.5,
            13.600000023841858,
            23.5,
            21.099999994039536,
            22.0,
            22.899999976158142
          ],
          "raw_measurements": [
            {
              "trial_index": 1,
              "camera": "front_stereo",
              "hide_server_ts_ns": 1784665531451138048,
              "disappear_ts_ns": 1784665531658526720,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 207.388672,
              "corrected_ms": 207.388672,
              "min_missing_frames": 2
            },
            {
              "trial_index": 2,
              "camera": "front_stereo",
              "hide_server_ts_ns": 1784665533448524800,
              "disappear_ts_ns": 1784665533660715776,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 212.190976,
              "corrected_ms": 212.190976,
              "min_missing_frames": 2
            },
            {
              "trial_index": 3,
              "camera": "front_stereo",
              "hide_server_ts_ns": 1784665536426251776,
              "disappear_ts_ns": 1784665536718256640,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 292.004864,
              "corrected_ms": 292.004864,
              "min_missing_frames": 2
            },
            {
              "trial_index": 4,
              "camera": "front_stereo",
              "hide_server_ts_ns": 1784665538440751616,
              "disappear_ts_ns": 1784665538615667968,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 174.916352,
              "corrected_ms": 174.916352,
              "min_missing_frames": 2
            },
            {
              "trial_index": 5,
              "camera": "front_stereo",
              "hide_server_ts_ns": 1784665540437362688,
              "disappear_ts_ns": 1784665540604544768,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 167.18208,
              "corrected_ms": 167.18208,
              "min_missing_frames": 2
            },
            {
              "trial_index": 6,
              "camera": "front_stereo",
              "hide_server_ts_ns": 1784665542437151488,
              "disappear_ts_ns": 1784665542578069248,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 140.91776,
              "corrected_ms": 140.91776,
              "min_missing_frames": 2
            },
            {
              "trial_index": 7,
              "camera": "front_stereo",
              "hide_server_ts_ns": 1784665544432379904,
              "disappear_ts_ns": 1784665544596593920,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 164.214016,
              "corrected_ms": 164.214016,
              "min_missing_frames": 2
            },
            {
              "trial_index": 8,
              "camera": "front_stereo",
              "hide_server_ts_ns": 1784665546445406976,
              "disappear_ts_ns": 1784665546645825280,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 200.418304,
              "corrected_ms": 200.418304,
              "min_missing_frames": 2
            },
            {
              "trial_index": 9,
              "camera": "front_stereo",
              "hide_server_ts_ns": 1784665548441362688,
              "disappear_ts_ns": 1784665548669762048,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 228.39936,
              "corrected_ms": 228.39936,
              "min_missing_frames": 2
            },
            {
              "trial_index": 10,
              "camera": "front_stereo",
              "hide_server_ts_ns": 1784665550453913344,
              "disappear_ts_ns": 1784665550651465728,
              "rtt_ms_at_hide": 0.0,
              "correction_mode": "phone_paint_clock_sync",
              "raw_ms": 197.552384,
              "corrected_ms": 197.552384,
              "min_missing_frames": 2
            }
          ],
          "summary": {
            "camera": "front_stereo",
            "n_samples": 10,
            "mean_ms": 198.5184768,
            "std_ms": 42.07981927850254,
            "min_ms": 140.91776,
            "max_ms": 292.004864,
            "samples_ms": [
              207.388672,
              212.190976,
              292.004864,
              174.916352,
              167.18208,
              140.91776,
              164.214016,
              200.418304,
              228.39936,
              197.552384
            ]
          },
          "camera_name": "front_stereo"
        },
        "host": "192.168.2.1",
        "port": 30008,
        "view": "stereo"
      },
      "info": {
        "video.height": 720,
        "video.width": 2304,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    }
  }
}