{
    "codebase_version": "v2.1",
    "robot_type": "dual_arm_robot",
    "total_episodes": 1,
    "total_frames": 3105,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": {
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                "arm1_elbow_joint",
                "arm1_wrist_1_joint",
                "arm1_wrist_2_joint",
                "arm2_wrist_3_joint",
                "arm1_wrist_3_joint",
                "arm2_3f_finger_b_joint_3",
                "arm1_3f_finger_c_joint_3",
                "arm2_3f_palm_finger_b_joint",
                "arm2_3f_finger_c_joint_3",
                "arm2_3f_palm_finger_c_joint",
                "arm1_3f_finger_c_joint_2",
                "arm2_3f_finger_a_joint_3",
                "arm2_3f_finger_c_joint_2",
                "arm1_3f_finger_b_joint_2",
                "arm2_3f_finger_c_joint_1",
                "arm2_wrist_2_joint",
                "arm1_shoulder_pan_joint",
                "arm1_3f_finger_c_joint_1",
                "arm2_3f_finger_b_joint_1",
                "arm2_shoulder_pan_joint",
                "arm1_3f_finger_b_joint_3",
                "arm1_3f_finger_b_joint_1",
                "arm2_3f_finger_a_joint_2",
                "arm1_3f_palm_finger_b_joint",
                "arm1_3f_finger_a_joint_3",
                "arm2_elbow_joint",
                "arm1_3f_finger_a_joint_1",
                "arm2_shoulder_lift_joint",
                "arm2_3f_finger_b_joint_2",
                "arm2_3f_finger_a_joint_1",
                "arm1_3f_palm_finger_c_joint",
                "arm1_3f_finger_a_joint_2",
                "arm2_wrist_1_joint"
            ]
        },
        "action": {
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                "arm1_elbow_joint",
                "arm1_wrist_1_joint",
                "arm1_wrist_2_joint",
                "arm2_wrist_3_joint",
                "arm1_wrist_3_joint",
                "arm2_3f_finger_b_joint_3",
                "arm1_3f_finger_c_joint_3",
                "arm2_3f_palm_finger_b_joint",
                "arm2_3f_finger_c_joint_3",
                "arm2_3f_palm_finger_c_joint",
                "arm1_3f_finger_c_joint_2",
                "arm2_3f_finger_a_joint_3",
                "arm2_3f_finger_c_joint_2",
                "arm1_3f_finger_b_joint_2",
                "arm2_3f_finger_c_joint_1",
                "arm2_wrist_2_joint",
                "arm1_shoulder_pan_joint",
                "arm1_3f_finger_c_joint_1",
                "arm2_3f_finger_b_joint_1",
                "arm2_shoulder_pan_joint",
                "arm1_3f_finger_b_joint_3",
                "arm1_3f_finger_b_joint_1",
                "arm2_3f_finger_a_joint_2",
                "arm1_3f_palm_finger_b_joint",
                "arm1_3f_finger_a_joint_3",
                "arm2_elbow_joint",
                "arm1_3f_finger_a_joint_1",
                "arm2_shoulder_lift_joint",
                "arm2_3f_finger_b_joint_2",
                "arm2_3f_finger_a_joint_1",
                "arm1_3f_palm_finger_c_joint",
                "arm1_3f_finger_a_joint_2",
                "arm2_wrist_1_joint"
            ]
        },
        "observation.velocity": {
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            "shape": [
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            ],
            "names": [
                "arm1_shoulder_lift_joint_vel",
                "arm1_elbow_joint_vel",
                "arm1_wrist_1_joint_vel",
                "arm1_wrist_2_joint_vel",
                "arm2_wrist_3_joint_vel",
                "arm1_wrist_3_joint_vel",
                "arm2_3f_finger_b_joint_3_vel",
                "arm1_3f_finger_c_joint_3_vel",
                "arm2_3f_palm_finger_b_joint_vel",
                "arm2_3f_finger_c_joint_3_vel",
                "arm2_3f_palm_finger_c_joint_vel",
                "arm1_3f_finger_c_joint_2_vel",
                "arm2_3f_finger_a_joint_3_vel",
                "arm2_3f_finger_c_joint_2_vel",
                "arm1_3f_finger_b_joint_2_vel",
                "arm2_3f_finger_c_joint_1_vel",
                "arm2_wrist_2_joint_vel",
                "arm1_shoulder_pan_joint_vel",
                "arm1_3f_finger_c_joint_1_vel",
                "arm2_3f_finger_b_joint_1_vel",
                "arm2_shoulder_pan_joint_vel",
                "arm1_3f_finger_b_joint_3_vel",
                "arm1_3f_finger_b_joint_1_vel",
                "arm2_3f_finger_a_joint_2_vel",
                "arm1_3f_palm_finger_b_joint_vel",
                "arm1_3f_finger_a_joint_3_vel",
                "arm2_elbow_joint_vel",
                "arm1_3f_finger_a_joint_1_vel",
                "arm2_shoulder_lift_joint_vel",
                "arm2_3f_finger_b_joint_2_vel",
                "arm2_3f_finger_a_joint_1_vel",
                "arm1_3f_palm_finger_c_joint_vel",
                "arm1_3f_finger_a_joint_2_vel",
                "arm2_wrist_1_joint_vel"
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                "arm1_elbow_joint_effort",
                "arm1_wrist_1_joint_effort",
                "arm1_wrist_2_joint_effort",
                "arm2_wrist_3_joint_effort",
                "arm1_wrist_3_joint_effort",
                "arm2_3f_finger_b_joint_3_effort",
                "arm1_3f_finger_c_joint_3_effort",
                "arm2_3f_palm_finger_b_joint_effort",
                "arm2_3f_finger_c_joint_3_effort",
                "arm2_3f_palm_finger_c_joint_effort",
                "arm1_3f_finger_c_joint_2_effort",
                "arm2_3f_finger_a_joint_3_effort",
                "arm2_3f_finger_c_joint_2_effort",
                "arm1_3f_finger_b_joint_2_effort",
                "arm2_3f_finger_c_joint_1_effort",
                "arm2_wrist_2_joint_effort",
                "arm1_shoulder_pan_joint_effort",
                "arm1_3f_finger_c_joint_1_effort",
                "arm2_3f_finger_b_joint_1_effort",
                "arm2_shoulder_pan_joint_effort",
                "arm1_3f_finger_b_joint_3_effort",
                "arm1_3f_finger_b_joint_1_effort",
                "arm2_3f_finger_a_joint_2_effort",
                "arm1_3f_palm_finger_b_joint_effort",
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                "arm2_elbow_joint_effort",
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                "arm2_shoulder_lift_joint_effort",
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                "arm2_3f_finger_a_joint_1_effort",
                "arm1_3f_palm_finger_c_joint_effort",
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                "arm2_wrist_1_joint_effort"
            ]
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    }
}