{
  "codebase_version": "v2.0",
  "robot_type": "nero-dual",
  "total_episodes": 253,
  "total_frames": 21338,
  "total_tasks": 2,
  "total_videos": 1265,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 15,
  "splits": {
    "train": "0:253"
  },
  "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.state": {
      "dtype": "float32",
      "shape": [
        16
      ],
      "names": [
        "left_joint1",
        "left_joint2",
        "left_joint3",
        "left_joint4",
        "left_joint5",
        "left_joint6",
        "left_joint7",
        "left_gripper",
        "right_joint1",
        "right_joint2",
        "right_joint3",
        "right_joint4",
        "right_joint5",
        "right_joint6",
        "right_joint7",
        "right_gripper"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        16
      ],
      "names": [
        "left_joint1",
        "left_joint2",
        "left_joint3",
        "left_joint4",
        "left_joint5",
        "left_joint6",
        "left_joint7",
        "left_gripper",
        "right_joint1",
        "right_joint2",
        "right_joint3",
        "right_joint4",
        "right_joint5",
        "right_joint6",
        "right_joint7",
        "right_gripper"
      ]
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "observation.images.base": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 15.0,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.images.wrist_left": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 15.0,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.images.wrist_right": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 15.0,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.images.depth_wrist_left": {
      "dtype": "video",
      "shape": [
        224,
        224,
        1
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 15.0,
        "video.codec": "hevc",
        "video.pix_fmt": "gray12le",
        "is_depth_map": true,
        "video.is_depth_map": true,
        "video.depth_min": 0.0,
        "video.depth_max": 3.0,
        "video.shift": 3.5,
        "video.use_log": true,
        "video.g": 2,
        "video.crf": null,
        "video.preset": "fast",
        "video.extra_options": {
          "x265-params": "lossless=1"
        },
        "has_audio": false
      }
    },
    "observation.images.depth_wrist_right": {
      "dtype": "video",
      "shape": [
        224,
        224,
        1
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 15.0,
        "video.codec": "hevc",
        "video.pix_fmt": "gray12le",
        "is_depth_map": true,
        "video.is_depth_map": true,
        "video.depth_min": 0.0,
        "video.depth_max": 3.0,
        "video.shift": 3.5,
        "video.use_log": true,
        "video.g": 2,
        "video.crf": null,
        "video.preset": "fast",
        "video.extra_options": {
          "x265-params": "lossless=1"
        },
        "has_audio": false
      }
    }
  }
}