{
  "codebase_version": "v0.3",
  "robot_type": "piper",
  "fps": 30,
  "video": false,
  "encoding": {
    "observation.images.table_cam": {
      "type": "video_folder",
      "path": "{episode_name}_images/observation.images.table_cam"
    },
    "observation.images.wrist_cam": {
      "type": "video_folder",
      "path": "{episode_name}_images/observation.images.wrist_cam"
    },
    "observation.state": {
      "type": "hdf5",
      "path": "observations/state"
    },
    "action": {
      "type": "hdf5",
      "path": "actions"
    }
  },
  "shapes": {
    "observation.images.table_cam": [720, 800, 3],
    "observation.images.wrist_cam": [480, 640, 3],
    "observation.state": [7],
    "action": [7]
  },
  "names": {
    "observation.state": [
      "joint_1",
      "joint_2",
      "joint_3",
      "joint_4",
      "joint_5",
      "joint_6",
      "joint_7"
    ],
    "action": [
      "joint_1",
      "joint_2",
      "joint_3",
      "joint_4",
      "joint_5",
      "joint_6",
      "joint_7"
    ]
  },
  "license": "MIT",
  "description": "PiPER robot teaching episodes dataset containing teleoperation demonstrations for object manipulation tasks. Dataset includes synchronized robot state, actions, and dual-camera observations captured at 30 FPS."
}