{
    "codebase_version": "v2.0",
    "robot_type": "hsr",
    "total_episodes": 38,
    "total_frames": 12064,
    "total_tasks": 1,
    "total_videos": 76,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:38"
    },
    "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.image.head": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.fps": 10,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": "false",
                "has_audio": "false"
            }
        },
        "observation.image.hand": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.fps": 10,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": "false",
                "has_audio": "false"
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "arm_lift_joint",
                "arm_flex_joint",
                "arm_roll_joint",
                "wrist_flex_joint",
                "wrist_roll_joint",
                "hand_motor_joint",
                "head_pan_joint",
                "head_tilt_joint"
            ]
        },
        "observation.wrench.wrist": {
            "dtype": "float32",
            "shape": [
                60
            ],
            "names": [
                "force_x_0",
                "force_y_0",
                "force_z_0",
                "torque_x_0",
                "torque_y_0",
                "torque_z_0",
                "force_x_1",
                "force_y_1",
                "force_z_1",
                "torque_x_1",
                "torque_y_1",
                "torque_z_1",
                "force_x_2",
                "force_y_2",
                "force_z_2",
                "torque_x_2",
                "torque_y_2",
                "torque_z_2",
                "force_x_3",
                "force_y_3",
                "force_z_3",
                "torque_x_3",
                "torque_y_3",
                "torque_z_3",
                "force_x_4",
                "force_y_4",
                "force_z_4",
                "torque_x_4",
                "torque_y_4",
                "torque_z_4",
                "force_x_5",
                "force_y_5",
                "force_z_5",
                "torque_x_5",
                "torque_y_5",
                "torque_z_5",
                "force_x_6",
                "force_y_6",
                "force_z_6",
                "torque_x_6",
                "torque_y_6",
                "torque_z_6",
                "force_x_7",
                "force_y_7",
                "force_z_7",
                "torque_x_7",
                "torque_y_7",
                "torque_z_7",
                "force_x_8",
                "force_y_8",
                "force_z_8",
                "torque_x_8",
                "torque_y_8",
                "torque_z_8",
                "force_x_9",
                "force_y_9",
                "force_z_9",
                "torque_x_9",
                "torque_y_9",
                "torque_z_9"
            ],
            "description": "Wrist wrench data (force and torque) with 100Hz history (10 samples per frame, flattened)"
        },
        "action.absolute": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "arm_lift_joint",
                "arm_flex_joint",
                "arm_roll_joint",
                "wrist_flex_joint",
                "wrist_roll_joint",
                "hand_motor_joint",
                "head_pan_joint",
                "head_tilt_joint"
            ],
            "description": "absolute action for all joints without hand_motor_joint(gripper)"
        },
        "action.relative": {
            "dtype": "float32",
            "shape": [
                11
            ],
            "names": [
                "arm_lift_joint",
                "arm_flex_joint",
                "arm_roll_joint",
                "wrist_flex_joint",
                "wrist_roll_joint",
                "hand_motor_joint",
                "head_pan_joint",
                "head_tilt_joint",
                "base_x",
                "base_y",
                "base_t"
            ],
            "description": "delta action for all joints and base without hand_motor_joint(gripper)"
        },
        "action.arm": {
            "dtype": "float32",
            "shape": [
                5
            ],
            "names": [
                "arm_lift_joint",
                "arm_flex_joint",
                "arm_roll_joint",
                "wrist_flex_joint",
                "wrist_roll_joint"
            ],
            "description": "absolute action for arm joints"
        },
        "action.gripper": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "hand_motor_joint"
            ],
            "description": "absolute action for gripper"
        },
        "action.head": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "head_pan_joint",
                "head_tilt_joint"
            ],
            "description": "absolute action for head joints"
        },
        "action.base": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "base_x",
                "base_y",
                "base_t"
            ],
            "description": "delta action for base"
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}