{
  "codebase_version": "v2.1",
  "robot_type": "so101_lekiwi",
  "total_episodes": 20,
  "total_frames": 39454,
  "total_tasks": 1,
  "fps": 30,
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        9
      ],
      "names": [
        "elbow_flex.pos",
        "gripper.pos",
        "shoulder_lift.pos",
        "shoulder_pan.pos",
        "wrist_flex.pos",
        "wrist_roll.pos",
        "wheel_1",
        "wheel_2",
        "wheel_3"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        9
      ],
      "names": [
        "elbow_flex.pos",
        "gripper.pos",
        "shoulder_lift.pos",
        "shoulder_pan.pos",
        "wrist_flex.pos",
        "wrist_roll.pos",
        "wheel_1",
        "wheel_2",
        "wheel_3"
      ]
    },
    "observation.images.base": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ]
    },
    "observation.images.gripper": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ]
    },
    "observation.images.overhead": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ]
    }
  }
}