{
  "videos": {
    "wrist": {
      "frames": 240,
      "fps": 30,
      "seconds": 8.0,
      "sha256": "fdfa3aee87ffa94e4416359c9727e2c19f258cb2e5f3603da8859372bd2dbc6e"
    },
    "flythrough": {
      "frames": 480,
      "fps": 30,
      "seconds": 16.0,
      "sha256": "02ebc7f8f0675b1f2c609a315d2f5a2c334e7803c8ecf8b95a3664a03327e532"
    },
    "flythrough_wrist_pip": {
      "frames": 480,
      "fps": 30,
      "seconds": 16.0,
      "sha256": "92b5f275fa332a2327bda90422582294043c5f5372f80ee76c486693eb585e19"
    }
  },
  "maximum_inset_mae": 1.9796351084812622,
  "trajectory": "cb3_rg2_d455_trajectory.npz",
  "actual_rg2_physics_replay": true,
  "robot": "Retained linux3 UR5 CB3 CAD and PBR metal",
  "attachments": "Local legacy RG2 v1, single bracket, v4 blue mount, D455",
  "camera": "Calibrated 1280x800 pinhole RGB; no distortion/noise",
  "limitations": "Inferred materials and inertias; mount external collision geometry disabled as in source. Two real-time replays of the same 8-second pick."
}