{
  "codebase_version": "v2.0",
  "robot_type": "xarm7",
  "total_episodes": 211,
  "total_frames": 305534,
  "total_tasks": 1,
  "total_videos": 633,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 60,
  "splits": {
    "train": "0:211"
  },
  "data_path": "data/chunk-000/episode_{episode_index:06d}.parquet",
  "video_path": "videos/chunk-000/{video_key}/episode_{episode_index:06d}.mp4",
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        8
      ],
      "names": [
        "joint1",
        "joint2",
        "joint3",
        "joint4",
        "joint5",
        "joint6",
        "joint7",
        "gripper"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        8
      ],
      "names": [
        "joint1",
        "joint2",
        "joint3",
        "joint4",
        "joint5",
        "joint6",
        "joint7",
        "gripper"
      ]
    },
    "observation.motor_current": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "joint1",
        "joint2",
        "joint3",
        "joint4",
        "joint5",
        "joint6",
        "joint7"
      ]
    },
    "observation.gripper_load": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": [
        "gripper_load_proxy_mm"
      ]
    },
    "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
    },
    "observation.images.exterior": {
      "dtype": "video",
      "shape": [
        180,
        320,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 60.0,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "has_audio": false
      }
    },
    "observation.images.wrist": {
      "dtype": "video",
      "shape": [
        180,
        320,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 60.0,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "has_audio": false
      }
    },
    "observation.images.exterior_2": {
      "dtype": "video",
      "shape": [
        180,
        320,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 60.0,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "has_audio": false
      }
    }
  }
}