{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 250,
    "total_frames": 92520,
    "total_tasks": 5,
    "total_videos": 250,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:250"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "left_joint_0",
                "left_joint_1",
                "left_joint_2",
                "left_joint_3",
                "left_joint_4",
                "left_joint_5",
                "left_joint_6",
                "right_joint_0",
                "right_joint_1",
                "right_joint_2",
                "right_joint_3",
                "right_joint_4",
                "right_joint_5",
                "right_joint_6",
                "left_gripper",
                "right_gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "left_joint_0",
                "left_joint_1",
                "left_joint_2",
                "left_joint_3",
                "left_joint_4",
                "left_joint_5",
                "left_joint_6",
                "right_joint_0",
                "right_joint_1",
                "right_joint_2",
                "right_joint_3",
                "right_joint_4",
                "right_joint_5",
                "right_joint_6",
                "left_gripper",
                "right_gripper"
            ]
        },
        "observation.image.head_camera": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 240,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "subtask": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "subtask_annotation"
            ]
        },
        "subtask_end": {
            "dtype": "int32",
            "shape": [
                1
            ],
            "names": [
                "subtask_end_flag"
            ]
        },
        "episode_id": {
            "dtype": "int32",
            "shape": [
                1
            ],
            "names": [
                "episode_id"
            ]
        },
        "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
        }
    }
}