{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "Base",
                "Shoulder",
                "Elbow",
                "Wrist 1",
                "Wrist 2",
                "Wrist 3"
            ]
        },
        "observation.ee_pose": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "rx",
                "ry",
                "rz"
            ]
        },
        "observation.ee_force_torque": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "Fx",
                "Fy",
                "Fz",
                "Tx",
                "Ty",
                "Tz"
            ]
        },
        "observation.gripper_state": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_state"
            ]
        },
        "observation.gripper_current": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_current"
            ]
        },
        "observation.gripper_object": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_object"
            ]
        },
        "observation.gripper_status": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_status"
            ]
        },
        "observation.gripper_fault": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_fault"
            ]
        },
        "observation.gripper_position_request_echo": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_position_request_echo"
            ]
        },
        "observation.gripper_speed_request_echo": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_speed_request_echo"
            ]
        },
        "observation.gripper_force_request_echo": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_force_request_echo"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "Base",
                "Shoulder",
                "Elbow",
                "Wrist 1",
                "Wrist 2",
                "Wrist 3",
                "gripper",
                "gripper_speed",
                "gripper_force"
            ]
        },
        "action.ee_pose_next": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "rx",
                "ry",
                "rz"
            ]
        },
        "action.ee_pose_delta": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "rx",
                "ry",
                "rz"
            ]
        },
        "observation.images.workspace_front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.workspace_side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.workspace_front_depth": {
            "dtype": "video",
            "shape": [
                480,
                640,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": true,
                "depth_unit": "mm",
                "video.height": 480,
                "video.width": 640,
                "video.codec": "hevc",
                "video.pix_fmt": "gray12le",
                "video.fps": 30,
                "video.channels": 1,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {
                    "x265-params": "lossless=1"
                },
                "video.depth_min": 0.05,
                "video.depth_max": 2.0,
                "video.shift": 3.5,
                "video.use_log": true
            }
        },
        "observation.images.workspace_side_depth": {
            "dtype": "video",
            "shape": [
                480,
                640,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": true,
                "depth_unit": "mm",
                "video.height": 480,
                "video.width": 640,
                "video.codec": "hevc",
                "video.pix_fmt": "gray12le",
                "video.fps": 30,
                "video.channels": 1,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {
                    "x265-params": "lossless=1"
                },
                "video.depth_min": 0.05,
                "video.depth_max": 2.0,
                "video.shift": 3.5,
                "video.use_log": true
            }
        },
        "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_episodes": 2,
    "total_frames": 1195,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": null,
    "splits": {
        "train": "0:2"
    }
}