{
    "codebase_version": "v3.0",
    "robot_type": "f2",
    "total_episodes": 95,
    "total_frames": 33730,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "splits": {
        "train": "0:95"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15
        },
        "subtask_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                22
            ],
            "names": [
                "arm_l_joint1",
                "arm_l_joint2",
                "arm_l_joint3",
                "arm_l_joint4",
                "arm_l_joint5",
                "arm_l_joint6",
                "arm_l_joint7",
                "gripper_l_joint1",
                "arm_r_joint1",
                "arm_r_joint2",
                "arm_r_joint3",
                "arm_r_joint4",
                "arm_r_joint5",
                "arm_r_joint6",
                "arm_r_joint7",
                "gripper_r_joint1",
                "head_joint1",
                "head_joint2",
                "lift_joint",
                "linear_x",
                "linear_y",
                "angular_z"
            ],
            "fps": 15
        },
        "action": {
            "dtype": "float32",
            "shape": [
                19
            ],
            "names": [
                "arm_l_joint1",
                "arm_l_joint2",
                "arm_l_joint3",
                "arm_l_joint4",
                "arm_l_joint5",
                "arm_l_joint6",
                "arm_l_joint7",
                "gripper_l_joint1",
                "arm_r_joint1",
                "arm_r_joint2",
                "arm_r_joint3",
                "arm_r_joint4",
                "arm_r_joint5",
                "arm_r_joint6",
                "arm_r_joint7",
                "gripper_r_joint1",
                "linear_x",
                "linear_y",
                "angular_z"
            ],
            "fps": 15
        },
        "observation.images.rgb.cam_head": {
            "dtype": "video",
            "shape": [
                3,
                720,
                1280
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 720,
                "video.width": 1280,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.rgb.cam_left_wrist": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.rgb.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        }
    },
    "annotation_path": "annotations/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.json"
}