{
  "codebase_version": "v3.0",
  "robot_type": "xarm6",
  "ee_frame": "tcp",
  "ee_tcp_offset_m": 0.172,
  "ee_tcp_offset_frame": "local +Z of link6/toolhead frame",
  "ee_tcp_offset_note": "observation.state/action xyz are defined at the TCP/tool point, 0.172 m (172 mm) from link6 along local +Z",
  "total_episodes": 213,
  "total_frames": 43452,
  "total_tasks": 5,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 30.0,
  "splits": {
    "train": "0:213"
  },
  "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": {
    "action": {
      "dtype": "float32",
      "shape": [
        10
      ],
      "names": [
        "x",
        "y",
        "z",
        "rot_6d_0",
        "rot_6d_1",
        "rot_6d_2",
        "rot_6d_3",
        "rot_6d_4",
        "rot_6d_5",
        "gripper"
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        16
      ],
      "names": [
        "x",
        "y",
        "z",
        "rot_6d_0",
        "rot_6d_1",
        "rot_6d_2",
        "rot_6d_3",
        "rot_6d_4",
        "rot_6d_5",
        "gripper",
        "joint_1",
        "joint_2",
        "joint_3",
        "joint_4",
        "joint_5",
        "joint_6"
      ]
    },
    "timestamp": {
      "dtype": "float64",
      "shape": [
        1
      ]
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "next.reward": {
      "dtype": "float64",
      "shape": [
        1
      ]
    },
    "next.done": {
      "dtype": "bool",
      "shape": [
        1
      ]
    },
    "observation.images.back_left": {
      "dtype": "video",
      "shape": [
        600,
        960,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "video_info": {
        "video.fps": 30.0,
        "video.height": 600,
        "video.width": 960,
        "video.codec": "avc1",
        "has_audio": false
      },
      "camera_metadata": {
        "source_camera": "zed_back_left",
        "camera_model": null,
        "view": "mono",
        "output_width": 960,
        "output_height": 600,
        "intrinsics": {
          "K": [
            [
              363.99383544921875,
              0.0,
              487.5188903808594
            ],
            [
              0.0,
              363.99383544921875,
              292.53131103515625
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "D": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "R": [
            [
              1.0,
              0.0,
              0.0
            ],
            [
              0.0,
              1.0,
              0.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "P": [
            [
              363.99383544921875,
              0.0,
              487.5188903808594,
              0.0
            ],
            [
              0.0,
              363.99383544921875,
              292.53131103515625,
              0.0
            ],
            [
              0.0,
              0.0,
              1.0,
              0.0
            ]
          ]
        }
      }
    },
    "observation.images.front_left": {
      "dtype": "video",
      "shape": [
        600,
        960,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "video_info": {
        "video.fps": 30.0,
        "video.height": 600,
        "video.width": 960,
        "video.codec": "avc1",
        "has_audio": false
      },
      "camera_metadata": {
        "source_camera": "zed_front_left",
        "camera_model": null,
        "view": "mono",
        "output_width": 960,
        "output_height": 600,
        "intrinsics": {
          "K": [
            [
              366.29888916015625,
              0.0,
              482.61993408203125
            ],
            [
              0.0,
              366.29888916015625,
              292.7744140625
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "D": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "R": [
            [
              1.0,
              0.0,
              0.0
            ],
            [
              0.0,
              1.0,
              0.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "P": [
            [
              366.29888916015625,
              0.0,
              482.61993408203125,
              0.0
            ],
            [
              0.0,
              366.29888916015625,
              292.7744140625,
              0.0
            ],
            [
              0.0,
              0.0,
              1.0,
              0.0
            ]
          ]
        }
      }
    },
    "observation.images.front": {
      "dtype": "video",
      "shape": [
        600,
        960,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "video_info": {
        "video.fps": 30.0,
        "video.height": 600,
        "video.width": 960,
        "video.codec": "avc1",
        "has_audio": false
      },
      "camera_metadata": {
        "source_camera": "zed_front",
        "camera_model": null,
        "view": "mono",
        "output_width": 960,
        "output_height": 600,
        "intrinsics": {
          "K": [
            [
              360.0633239746094,
              0.0,
              491.9861145019531
            ],
            [
              0.0,
              360.0633239746094,
              302.3038330078125
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "D": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "R": [
            [
              1.0,
              0.0,
              0.0
            ],
            [
              0.0,
              1.0,
              0.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "P": [
            [
              360.0633239746094,
              0.0,
              491.9861145019531,
              0.0
            ],
            [
              0.0,
              360.0633239746094,
              302.3038330078125,
              0.0
            ],
            [
              0.0,
              0.0,
              1.0,
              0.0
            ]
          ]
        }
      }
    },
    "observation.images.right": {
      "dtype": "video",
      "shape": [
        600,
        960,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "video_info": {
        "video.fps": 30.0,
        "video.height": 600,
        "video.width": 960,
        "video.codec": "avc1",
        "has_audio": false
      },
      "camera_metadata": {
        "source_camera": "zed_right",
        "camera_model": null,
        "view": "mono",
        "output_width": 960,
        "output_height": 600,
        "intrinsics": {
          "K": [
            [
              362.3436584472656,
              0.0,
              490.24139404296875
            ],
            [
              0.0,
              362.3436584472656,
              301.3719482421875
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "D": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "R": [
            [
              1.0,
              0.0,
              0.0
            ],
            [
              0.0,
              1.0,
              0.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "P": [
            [
              362.3436584472656,
              0.0,
              490.24139404296875,
              0.0
            ],
            [
              0.0,
              362.3436584472656,
              301.3719482421875,
              0.0
            ],
            [
              0.0,
              0.0,
              1.0,
              0.0
            ]
          ]
        }
      }
    },
    "observation.images.top": {
      "dtype": "video",
      "shape": [
        600,
        960,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "video_info": {
        "video.fps": 30.0,
        "video.height": 600,
        "video.width": 960,
        "video.codec": "avc1",
        "has_audio": false
      },
      "camera_metadata": {
        "source_camera": "zed_top",
        "camera_model": null,
        "view": "mono",
        "output_width": 960,
        "output_height": 600,
        "intrinsics": {
          "K": [
            [
              370.5740661621094,
              0.0,
              494.8702087402344
            ],
            [
              0.0,
              370.5740661621094,
              317.9675598144531
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "D": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "R": [
            [
              1.0,
              0.0,
              0.0
            ],
            [
              0.0,
              1.0,
              0.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "P": [
            [
              370.5740661621094,
              0.0,
              494.8702087402344,
              0.0
            ],
            [
              0.0,
              370.5740661621094,
              317.9675598144531,
              0.0
            ],
            [
              0.0,
              0.0,
              1.0,
              0.0
            ]
          ]
        }
      }
    }
  }
}