{
    "codebase_version": "v2.1",
    "robot_type": "alex_ability_hands",
    "total_episodes": 100,
    "total_frames": 8182,
    "total_tasks": 1,
    "total_videos": 200,
    "total_chunks": 0,
    "chunks_size": 1000,
    "fps": 30,
    "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.zed_left_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.width": 640,
                "video.height": 480,
                "video.fps": 30.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.zed_right_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.width": 640,
                "video.height": 480,
                "video.fps": 30.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                49
            ],
            "names": [
                "LEFT_HIP_X",
                "LEFT_HIP_Z",
                "LEFT_HIP_Y",
                "LEFT_KNEE_Y",
                "LEFT_ANKLE_Y",
                "LEFT_ANKLE_X",
                "RIGHT_HIP_X",
                "RIGHT_HIP_Z",
                "RIGHT_HIP_Y",
                "RIGHT_KNEE_Y",
                "RIGHT_ANKLE_Y",
                "RIGHT_ANKLE_X",
                "SPINE_Z",
                "NECK_Z",
                "NECK_Y",
                "LEFT_SHOULDER_Y",
                "LEFT_SHOULDER_X",
                "LEFT_SHOULDER_Z",
                "LEFT_ELBOW_Y",
                "LEFT_WRIST_Z",
                "LEFT_WRIST_X",
                "LEFT_GRIPPER_Z",
                "RIGHT_SHOULDER_Y",
                "RIGHT_SHOULDER_X",
                "RIGHT_SHOULDER_Z",
                "RIGHT_ELBOW_Y",
                "RIGHT_WRIST_Z",
                "RIGHT_WRIST_X",
                "RIGHT_GRIPPER_Z",
                "left_ability_hand_index_q1",
                "left_ability_hand_index_q2",
                "left_ability_hand_middle_q1",
                "left_ability_hand_middle_q2",
                "left_ability_hand_ring_q1",
                "left_ability_hand_ring_q2",
                "left_ability_hand_pinky_q1",
                "left_ability_hand_pinky_q2",
                "left_ability_hand_thumb_q1",
                "left_ability_hand_thumb_q2",
                "right_ability_hand_index_q1",
                "right_ability_hand_index_q2",
                "right_ability_hand_middle_q1",
                "right_ability_hand_middle_q2",
                "right_ability_hand_ring_q1",
                "right_ability_hand_ring_q2",
                "right_ability_hand_pinky_q1",
                "right_ability_hand_pinky_q2",
                "right_ability_hand_thumb_q1",
                "right_ability_hand_thumb_q2"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                34
            ],
            "names": [
                "LEFT_SHOULDER_Y",
                "LEFT_SHOULDER_X",
                "LEFT_SHOULDER_Z",
                "LEFT_ELBOW_Y",
                "LEFT_WRIST_Z",
                "LEFT_WRIST_X",
                "LEFT_GRIPPER_Z",
                "RIGHT_SHOULDER_Y",
                "RIGHT_SHOULDER_X",
                "RIGHT_SHOULDER_Z",
                "RIGHT_ELBOW_Y",
                "RIGHT_WRIST_Z",
                "RIGHT_WRIST_X",
                "RIGHT_GRIPPER_Z",
                "left_ability_hand_index_q1",
                "left_ability_hand_middle_q1",
                "left_ability_hand_ring_q1",
                "left_ability_hand_pinky_q1",
                "right_ability_hand_index_q1",
                "right_ability_hand_middle_q1",
                "right_ability_hand_ring_q1",
                "right_ability_hand_pinky_q1",
                "left_ability_hand_thumb_q1",
                "right_ability_hand_thumb_q1",
                "left_ability_hand_index_q2",
                "left_ability_hand_middle_q2",
                "left_ability_hand_ring_q2",
                "left_ability_hand_pinky_q2",
                "right_ability_hand_index_q2",
                "right_ability_hand_middle_q2",
                "right_ability_hand_ring_q2",
                "right_ability_hand_pinky_q2",
                "left_ability_hand_thumb_q2",
                "right_ability_hand_thumb_q2"
            ]
        },
        "timestamp": {
            "dtype": "float64",
            "shape": [
                1
            ]
        },
        "annotation.human.action.task_description": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "next.reward": {
            "dtype": "float64",
            "shape": [
                1
            ]
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ]
        },
        "observation.img_state_delta": {
            "dtype": "float64",
            "shape": [
                1
            ]
        }
    }
}