{
    "codebase_version": "v2.0",
    "robot_type": "Reachy",
    "total_episodes": 219,
    "total_frames": 23644,
    "total_tasks": 9,
    "total_videos": 1107,
    "total_chunks": 0,
    "chunks_size": 1000,
    "fps": 20.0,
    "splits": {
        "train": "0:100"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.images.cam_robot_0:agentview_center_rgb": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 20.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_robot_0:agentview_left_rgb": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 20.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_robot_0:agentview_right_rgb": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 20.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                20
            ],
            "names": [
                "base_0",
                "base_1",
                "base_2",
                "left_arm_0",
                "left_arm_1",
                "left_arm_2",
                "left_arm_3",
                "left_arm_4",
                "left_arm_5",
                "left_arm_6",
                "left_arm_eef_pos_0",
                "left_arm_eef_pos_1",
                "left_arm_eef_pos_2",
                "left_arm_eef_quat_0",
                "left_arm_eef_quat_1",
                "left_arm_eef_quat_2",
                "left_arm_eef_quat_3",
                "left_gripper_qpos_0",
                "left_hand_0",
                "right_arm_0",
                "right_arm_1",
                "right_arm_2",
                "right_arm_3",
                "right_arm_4",
                "right_arm_5",
                "right_arm_6",
                "right_arm_eef_pos_0",
                "right_arm_eef_pos_1",
                "right_arm_eef_pos_2",
                "right_arm_eef_quat_0",
                "right_arm_eef_quat_1",
                "right_arm_eef_quat_2",
                "right_arm_eef_quat_3",
                "right_gripper_qpos_0",
                "right_hand_0",
                "torso_0"
            ]
        },
        "action": {
            "dtype": "float64",
            "shape": [
                18
            ],
            "names": [
                "base_0",
                "base_1",
                "base_2",
                "left_arm_eef_pos_0",
                "left_arm_eef_pos_1",
                "left_arm_eef_pos_2",
                "left_arm_eef_rot_0",
                "left_arm_eef_rot_1",
                "left_arm_eef_rot_2",
                "left_gripper_close_0",
                "right_arm_eef_pos_0",
                "right_arm_eef_pos_1",
                "right_arm_eef_pos_2",
                "right_arm_eef_rot_0",
                "right_arm_eef_rot_1",
                "right_arm_eef_rot_2",
                "right_gripper_close_0",
                "torso_0"
            ]
        },
        "timestamp": {
            "dtype": "float64",
            "shape": [
                1
            ]
        },
        "annotation.human.action.task_description": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "annotation.human.validity": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "next.reward": {
            "dtype": "float64",
            "shape": [
                1
            ]
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ]
        }
    }
}