{
    "codebase_version": "v2.1",
    "robot_type": "cobotmagic",
    "total_episodes": 1000,
    "total_frames": 318000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:1000"
    },
    "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": [
                14
            ],
            "names": [
                "left_joint1",
                "left_joint2",
                "left_joint3",
                "left_joint4",
                "left_joint5",
                "left_joint6",
                "left_joint7",
                "right_joint1",
                "right_joint2",
                "right_joint3",
                "right_joint4",
                "right_joint5",
                "right_joint6",
                "right_joint7"
            ]
        },
        "observation.qvel": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_joint1",
                "left_joint2",
                "left_joint3",
                "left_joint4",
                "left_joint5",
                "left_joint6",
                "left_joint7",
                "right_joint1",
                "right_joint2",
                "right_joint3",
                "right_joint4",
                "right_joint5",
                "right_joint6",
                "right_joint7"
            ]
        },
        "observation.qf": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_joint1",
                "left_joint2",
                "left_joint3",
                "left_joint4",
                "left_joint5",
                "left_joint6",
                "left_joint7",
                "right_joint1",
                "right_joint2",
                "right_joint3",
                "right_joint4",
                "right_joint5",
                "right_joint6",
                "right_joint7"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_joint1",
                "left_joint2",
                "left_joint3",
                "left_joint4",
                "left_joint5",
                "left_joint6",
                "left_joint7",
                "right_joint1",
                "right_joint2",
                "right_joint3",
                "right_joint4",
                "right_joint5",
                "right_joint6",
                "right_joint7"
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "guijiao_contact.position": {
            "dtype": "float32",
            "shape": [
                32,
                3
            ],
            "names": "position"
        },
        "guijiao_contact.normal": {
            "dtype": "float32",
            "shape": [
                32,
                3
            ],
            "names": "normal"
        },
        "guijiao_contact.friction": {
            "dtype": "float32",
            "shape": [
                32,
                3
            ],
            "names": "friction"
        },
        "guijiao_contact.impulse": {
            "dtype": "float32",
            "shape": [
                32
            ],
            "names": "impulse"
        },
        "guijiao_contact.distance": {
            "dtype": "float32",
            "shape": [
                32
            ],
            "names": "distance"
        },
        "guijiao_contact.user_ids": {
            "dtype": "int32",
            "shape": [
                32,
                2
            ],
            "names": "user_ids"
        },
        "guijiao_contact.is_valid": {
            "dtype": "bool",
            "shape": [
                32
            ],
            "names": "is_valid"
        },
        "guijiao1_pose": {
            "dtype": "float32",
            "shape": [
                4,
                4
            ],
            "names": "guijiao1_pose"
        },
        "guijiao2_pose": {
            "dtype": "float32",
            "shape": [
                4,
                4
            ],
            "names": "guijiao2_pose"
        },
        "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
        }
    },
    "total_chunks": 1,
    "total_videos": 3000
}