{
    "codebase_version": "v2.1",
    "fps": 30,
    "features": {
        "observation.images.env": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "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.wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "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.state": {
            "dtype": "float64",
            "shape": [
                7
            ],
            "names": [
                "position.joint_0",
                "position.joint_1",
                "position.joint_2",
                "position.joint_3",
                "position.joint_4",
                "position.joint_5",
                "position.left_carriage_joint"
            ]
        },
        "observation.effort": {
            "dtype": "float64",
            "shape": [
                7
            ],
            "names": [
                "effort.joint_0",
                "effort.joint_1",
                "effort.joint_2",
                "effort.joint_3",
                "effort.joint_4",
                "effort.joint_5",
                "effort.left_carriage_joint"
            ]
        },
        "observation.base_odom": {
            "dtype": "float64",
            "shape": [
                6
            ],
            "names": [
                "pose.pose.position.x",
                "pose.pose.position.y",
                "pose.pose.orientation.z",
                "pose.pose.orientation.w",
                "twist.twist.linear.x",
                "twist.twist.angular.z"
            ]
        },
        "action": {
            "dtype": "float64",
            "shape": [
                9
            ],
            "names": [
                "arm_controller.position.joint_0",
                "arm_controller.position.joint_1",
                "arm_controller.position.joint_2",
                "arm_controller.position.joint_3",
                "arm_controller.position.joint_4",
                "arm_controller.position.joint_5",
                "gripper_controller.gripper",
                "cmd_vel.linear.x",
                "cmd_vel.angular.z"
            ]
        },
        "is_first": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "is_last": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "is_terminal": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "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": 31,
    "total_frames": 67560,
    "total_tasks": 1,
    "chunks_size": 1000,
    "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",
    "robot_type": "widowxai",
    "splits": {
        "train": "0:31"
    },
    "total_chunks": 1,
    "total_videos": 62
}