{
  "codebase_version": "v3.0",
  "robot_type": "so100_sim",
  "fps": 30,
  "total_episodes": 20,
  "total_frames": 5795,
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow_flex.pos",
        "wrist_flex.pos",
        "wrist_roll.pos",
        "gripper.pos"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow_flex.pos",
        "wrist_flex.pos",
        "wrist_roll.pos",
        "gripper.pos"
      ]
    },
    "block.position": {
      "dtype": "float32",
      "shape": [
        3
      ],
      "names": [
        "x",
        "y",
        "z"
      ]
    },
    "block.quaternion": {
      "dtype": "float32",
      "shape": [
        4
      ],
      "names": [
        "w",
        "x",
        "y",
        "z"
      ]
    },
    "block2.position": {
      "dtype": "float32",
      "shape": [
        3
      ],
      "names": [
        "x",
        "y",
        "z"
      ]
    },
    "block2.quaternion": {
      "dtype": "float32",
      "shape": [
        4
      ],
      "names": [
        "w",
        "x",
        "y",
        "z"
      ]
    },
    "ee.position": {
      "dtype": "float32",
      "shape": [
        3
      ],
      "names": [
        "x",
        "y",
        "z"
      ]
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ]
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    }
  },
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "episodes_path": "meta/episodes/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "chunks_size": 5795,
  "splits": {
    "eval": "0:20"
  }
}