{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 80,
    "total_frames": 74790,
    "total_tasks": 1,
    "total_videos": 80,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:80"
    },
    "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": [
                14
            ],
            "names": [
                "right_ee_x",
                "right_ee_y",
                "right_ee_z",
                "right_ee_qx",
                "right_ee_qy",
                "right_ee_qz",
                "right_ee_qw",
                "right_gripper_width",
                "right_force_x",
                "right_force_y",
                "right_force_z",
                "right_tau_x",
                "right_tau_y",
                "right_tau_z"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "right_ee_vx",
                "right_ee_vy",
                "right_ee_vz",
                "right_ee_wx",
                "right_ee_wy",
                "right_ee_wz",
                "right_gripper_cmd"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                3,
                224,
                224
            ],
            "names": [
                "channel",
                "height",
                "width"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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
        }
    }
}