{
  "codebase_version": "v3.0",
  "robot_type": "hepha_mujoco",
  "fps": 30,
  "total_episodes": 100,
  "total_frames": 200341,
  "total_tasks": 1,
  "total_videos": 100,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "interaction_mode": "physical",
  "record_resampling": "time",
  "record_normalized_joint_speed": 0.35,
  "domain_randomization": {
    "enabled": true,
    "config": {
      "body_mass_fraction": 0.15,
      "friction_fraction": 0.2,
      "damping_fraction": 0.2,
      "actuator_gain_fraction": 0.15,
      "drawer_rack_position_std_m": 0.004,
      "camera_position_std_m": 0.007,
      "camera_rotation_std_deg": 1.5,
      "camera_fovy_std_deg": 3.0,
      "light_position_std_m": 0.08,
      "light_direction_std": 0.05,
      "light_intensity_fraction": 0.25,
      "joint_position_noise_fraction": 0.003,
      "action_target_noise_fraction": 0.0,
      "brightness_fraction": 0.18,
      "image_noise_std": 5.0,
      "latency_steps_min": 0,
      "latency_steps_max": 0
    },
    "random_visual_colors": true,
    "per_episode_metadata": "meta/episodes/chunk-000/file-000.parquet:randomization"
  },
  "joint_normalization": {
    "type": "min_max_0_1",
    "joint_names": [
      "base_link_base_cnc_x_joint",
      "cnc_x_link_cnc_x_cnc_y_joint",
      "cnc_y_link_cnc_y_head_joint",
      "head_link_head_shoulder_l_joint",
      "shoulder_l_link_shoulder_l_forearm_l_joint",
      "forearm_l_link_forearm_l_arm_l_joint",
      "arm_l_link_arm_l_wrist_l_joint",
      "wrist_l_link_wrist_l_hand_l_joint",
      "head_link_head_shoulder_r_joint",
      "shoulder_r_link_shoulder_r_forearm_r_joint",
      "forearm_r_link_forearm_r_arm_r_joint",
      "arm_r_link_arm_r_wrist_r_joint",
      "wrist_r_link_wrist_r_hand_r_joint",
      "hand_l_link_hand_l_finger_l_joint",
      "hand_r_link_hand_r_finger_r_joint"
    ],
    "lower": [
      -0.1,
      -0.2,
      -0.1,
      -1.5,
      -0.5,
      -1.0,
      -1.0,
      -1.0,
      -1.5,
      -0.5,
      -1.0,
      -1.0,
      -1.0,
      0.0,
      0.0
    ],
    "upper": [
      0.23,
      0.2,
      0.14,
      1.5,
      1.5,
      0.5,
      1.0,
      1.0,
      1.5,
      1.5,
      0.5,
      1.0,
      1.0,
      1.0,
      1.0
    ],
    "formula": "normalized = (raw - lower) / (upper - lower)"
  },
  "drawer_observation": {
    "key": "observation.drawer_index",
    "type": "integer_1_to_9",
    "normalized_formula": "drawer_index_normalized = (drawer_index - 1) / 8"
  },
  "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",
  "splits": {
    "train": "0:100"
  },
  "features": {
    "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
    },
    "episode.drawer_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "episode.cube_position": {
      "dtype": "float32",
      "shape": [
        3
      ],
      "names": [
        "x",
        "y",
        "z"
      ]
    },
    "episode.cube_quaternion": {
      "dtype": "float32",
      "shape": [
        4
      ],
      "names": [
        "w",
        "x",
        "y",
        "z"
      ]
    },
    "observation.drawer_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": [
        "drawer_index"
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        15
      ],
      "names": [
        "base_link_base_cnc_x_joint_normalized",
        "cnc_x_link_cnc_x_cnc_y_joint_normalized",
        "cnc_y_link_cnc_y_head_joint_normalized",
        "head_link_head_shoulder_l_joint_normalized",
        "shoulder_l_link_shoulder_l_forearm_l_joint_normalized",
        "forearm_l_link_forearm_l_arm_l_joint_normalized",
        "arm_l_link_arm_l_wrist_l_joint_normalized",
        "wrist_l_link_wrist_l_hand_l_joint_normalized",
        "head_link_head_shoulder_r_joint_normalized",
        "shoulder_r_link_shoulder_r_forearm_r_joint_normalized",
        "forearm_r_link_forearm_r_arm_r_joint_normalized",
        "arm_r_link_arm_r_wrist_r_joint_normalized",
        "wrist_r_link_wrist_r_hand_r_joint_normalized",
        "hand_l_link_hand_l_finger_l_joint_normalized",
        "hand_r_link_hand_r_finger_r_joint_normalized"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        15
      ],
      "names": [
        "target_base_link_base_cnc_x_joint_normalized",
        "target_cnc_x_link_cnc_x_cnc_y_joint_normalized",
        "target_cnc_y_link_cnc_y_head_joint_normalized",
        "target_head_link_head_shoulder_l_joint_normalized",
        "target_shoulder_l_link_shoulder_l_forearm_l_joint_normalized",
        "target_forearm_l_link_forearm_l_arm_l_joint_normalized",
        "target_arm_l_link_arm_l_wrist_l_joint_normalized",
        "target_wrist_l_link_wrist_l_hand_l_joint_normalized",
        "target_head_link_head_shoulder_r_joint_normalized",
        "target_shoulder_r_link_shoulder_r_forearm_r_joint_normalized",
        "target_forearm_r_link_forearm_r_arm_r_joint_normalized",
        "target_arm_r_link_arm_r_wrist_r_joint_normalized",
        "target_wrist_r_link_wrist_r_hand_r_joint_normalized",
        "target_hand_l_link_hand_l_finger_l_joint_normalized",
        "target_hand_r_link_hand_r_finger_r_joint_normalized"
      ]
    },
    "observation.state_raw": {
      "dtype": "float32",
      "shape": [
        15
      ],
      "names": [
        "base_link_base_cnc_x_joint",
        "cnc_x_link_cnc_x_cnc_y_joint",
        "cnc_y_link_cnc_y_head_joint",
        "head_link_head_shoulder_l_joint",
        "shoulder_l_link_shoulder_l_forearm_l_joint",
        "forearm_l_link_forearm_l_arm_l_joint",
        "arm_l_link_arm_l_wrist_l_joint",
        "wrist_l_link_wrist_l_hand_l_joint",
        "head_link_head_shoulder_r_joint",
        "shoulder_r_link_shoulder_r_forearm_r_joint",
        "forearm_r_link_forearm_r_arm_r_joint",
        "arm_r_link_arm_r_wrist_r_joint",
        "wrist_r_link_wrist_r_hand_r_joint",
        "hand_l_link_hand_l_finger_l_joint",
        "hand_r_link_hand_r_finger_r_joint"
      ]
    },
    "action_raw": {
      "dtype": "float32",
      "shape": [
        15
      ],
      "names": [
        "target_base_link_base_cnc_x_joint",
        "target_cnc_x_link_cnc_x_cnc_y_joint",
        "target_cnc_y_link_cnc_y_head_joint",
        "target_head_link_head_shoulder_l_joint",
        "target_shoulder_l_link_shoulder_l_forearm_l_joint",
        "target_forearm_l_link_forearm_l_arm_l_joint",
        "target_arm_l_link_arm_l_wrist_l_joint",
        "target_wrist_l_link_wrist_l_hand_l_joint",
        "target_head_link_head_shoulder_r_joint",
        "target_shoulder_r_link_shoulder_r_forearm_r_joint",
        "target_forearm_r_link_forearm_r_arm_r_joint",
        "target_arm_r_link_arm_r_wrist_r_joint",
        "target_wrist_r_link_wrist_r_hand_r_joint",
        "target_hand_l_link_hand_l_finger_l_joint",
        "target_hand_r_link_hand_r_finger_r_joint"
      ]
    },
    "observation.images.head_camera": {
      "dtype": "video",
      "shape": [
        3,
        480,
        640
      ],
      "names": [
        "channel",
        "height",
        "width"
      ]
    }
  }
}