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info.json

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+{
+  "dataset_version": "v1",
+  "robot": {
+    "name": "my_custom_robot",
+    "dof": 7,
+    "type": "custom"
+  },
+  "cameras": [
+    "ego_view"
+  ],
+  "num_episodes": 6,
+  "fps": 30,
+  "has_videos": true
+}

modality.json

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+{
+  "state": {
+    "arm": {
+      "start": 0,
+      "end": 6
+    },
+    "gripper": {
+      "start": 6,
+      "end": 7
+    }
+  },
+  "action": {
+    "arm": {
+      "start": 0,
+      "end": 6
+    },
+    "gripper": {
+      "start": 6,
+      "end": 7
+    }
+  },
+  "video": {
+    "ego_view": {
+      "original_key": "observation.images.ego_view"
+    }
+  }
+}

tasks.jsonl

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+{"episode_index": 0, "task": "teleop"}
+{"episode_index": 1, "task": "teleop"}
+{"episode_index": 2, "task": "teleop"}
+{"episode_index": 3, "task": "teleop"}
+{"episode_index": 4, "task": "teleop"}
+{"episode_index": 5, "task": "teleop"}