{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                26
            ],
            "names": [
                "dg5f_0.pos",
                "dg5f_1.pos",
                "dg5f_2.pos",
                "dg5f_3.pos",
                "dg5f_4.pos",
                "dg5f_5.pos",
                "dg5f_6.pos",
                "dg5f_7.pos",
                "dg5f_8.pos",
                "dg5f_9.pos",
                "dg5f_10.pos",
                "dg5f_11.pos",
                "dg5f_12.pos",
                "dg5f_13.pos",
                "dg5f_14.pos",
                "dg5f_15.pos",
                "dg5f_16.pos",
                "dg5f_17.pos",
                "dg5f_18.pos",
                "dg5f_19.pos",
                "ur5e_0.pos",
                "ur5e_1.pos",
                "ur5e_2.pos",
                "ur5e_3.pos",
                "ur5e_4.pos",
                "ur5e_5.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                26
            ],
            "names": [
                "dg5f_0.pos",
                "dg5f_1.pos",
                "dg5f_2.pos",
                "dg5f_3.pos",
                "dg5f_4.pos",
                "dg5f_5.pos",
                "dg5f_6.pos",
                "dg5f_7.pos",
                "dg5f_8.pos",
                "dg5f_9.pos",
                "dg5f_10.pos",
                "dg5f_11.pos",
                "dg5f_12.pos",
                "dg5f_13.pos",
                "dg5f_14.pos",
                "dg5f_15.pos",
                "dg5f_16.pos",
                "dg5f_17.pos",
                "dg5f_18.pos",
                "dg5f_19.pos",
                "ur5e_0.pos",
                "ur5e_1.pos",
                "ur5e_2.pos",
                "ur5e_3.pos",
                "ur5e_4.pos",
                "ur5e_5.pos"
            ]
        },
        "observation.images.realsense": {
            "dtype": "video",
            "shape": [
                240,
                424,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.gelsight1": {
            "dtype": "video",
            "shape": [
                375,
                500,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.gelsight2": {
            "dtype": "video",
            "shape": [
                375,
                500,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "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
        }
    },
    "total_episodes": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "dg5f_ur5e",
    "splits": {}
}