{
  "codebase_version": "v2.1",
  "robot_type": "unknown",
  "total_episodes": 1,
  "total_frames": 299,
  "total_tasks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "splits": {
    "train": "0:4"
  },
  "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": [
        83
      ],
      "names": [
        "Elbow_L_pos",
        "Elbow_L_vol",
        "Elbow_R_pos",
        "Elbow_R_vol",
        "Lifting_Z_pos",
        "Lifting_Z_vol",
        "Neck_Y_L_pos",
        "Neck_Y_L_vol",
        "Neck_Z_L_pos",
        "Neck_Z_L_vol",
        "Shoulder_X_L_pos",
        "Shoulder_X_L_vol",
        "Shoulder_X_R_pos",
        "Shoulder_X_R_vol",
        "Shoulder_Y_L_pos",
        "Shoulder_Y_L_vol",
        "Shoulder_Y_R_pos",
        "Shoulder_Y_R_vol",
        "Shoulder_Z_L_pos",
        "Shoulder_Z_L_vol",
        "Shoulder_Z_R_pos",
        "Shoulder_Z_R_vol",
        "Waist_X_pos",
        "Waist_X_vol",
        "Waist_Z_pos",
        "Waist_Z_vol",
        "Wrist_X_L_pos",
        "Wrist_X_L_vol",
        "Wrist_X_R_pos",
        "Wrist_X_R_vol",
        "Wrist_Y_L_pos",
        "Wrist_Y_L_vol",
        "Wrist_Y_R_pos",
        "Wrist_Y_R_vol",
        "Wrist_Z_L_pos",
        "Wrist_Z_L_vol",
        "Wrist_Z_R_pos",
        "Wrist_Z_R_vol",
        "chest_in_head_ros_pose.orientation.w",
        "chest_in_head_ros_pose.orientation.x",
        "chest_in_head_ros_pose.orientation.y",
        "chest_in_head_ros_pose.orientation.z",
        "chest_in_head_ros_pose.position.x",
        "chest_in_head_ros_pose.position.y",
        "chest_in_head_ros_pose.position.z",
        "end_orientation_l_w",
        "end_orientation_l_x",
        "end_orientation_l_y",
        "end_orientation_l_z",
        "end_orientation_r_w",
        "end_orientation_r_x",
        "end_orientation_r_y",
        "end_orientation_r_z",
        "end_position_l_x",
        "end_position_l_y",
        "end_position_l_z",
        "end_position_r_x",
        "end_position_r_y",
        "end_position_r_z",
        "index_MCP_L",
        "index_MCP_R",
        "left_force_x_l",
        "left_force_y_l",
        "left_force_z_l",
        "left_torque_x_l",
        "left_torque_y_l",
        "left_torque_z_l",
        "middle_MCP_L",
        "middle_MCP_R",
        "pinky_MCP_L",
        "pinky_MCP_R",
        "right_force_x_r",
        "right_force_y_r",
        "right_force_z_r",
        "right_torque_x_r",
        "right_torque_y_r",
        "right_torque_z_r",
        "ring_MCP_L",
        "ring_MCP_R",
        "thumb_CMC_L",
        "thumb_CMC_R",
        "thumb_IP_L",
        "thumb_IP_R"
      ]
    },
    "observation.images.chest_rgb": {
      "dtype": "video",
      "shape": [
        1280,
        720,
        3
      ],
      "info": {
        "video.height": 720,
        "video.width": 1280,
        "video.codec": "hevc",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30.0,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.left_wrist_rgb": {
      "dtype": "video",
      "shape": [
        640,
        480,
        3
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "hevc",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30.0,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.right_wrist_rgb": {
      "dtype": "video",
      "shape": [
        640,
        480,
        3
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "hevc",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30.0,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "teleoperate_observation_states": {
      "dtype": "float32",
      "shape": [
        12
      ],
      "names": [
        "thumb_CMC_L",
        "thumb_IP_L",
        "index_MCP_L",
        "middle_MCP_L",
        "ring_MCP_L",
        "pinky_MCP_L",
        "thumb_CMC_R",
        "thumb_IP_R",
        "index_MCP_R",
        "middle_MCP_R",
        "ring_MCP_R",
        "pinky_MCP_R"
      ]
    }
  }
}