{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 2,
    "total_frames": 1910,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.image.head": {
            "shape": [
                540,
                960,
                3
            ],
            "dtype": "image",
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.image.arducam": {
            "shape": [
                540,
                960,
                3
            ],
            "dtype": "image",
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.image.wrist_left": {
            "shape": [
                540,
                960,
                3
            ],
            "dtype": "image",
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.image.wrist_right": {
            "shape": [
                540,
                960,
                3
            ],
            "dtype": "image",
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.state": {
            "shape": [
                63
            ],
            "dtype": "float32",
            "names": [
                "left_shoulder_flexion_position",
                "left_shoulder_flexion_velocity",
                "left_shoulder_flexion_effort",
                "left_shoulder_abduction_position",
                "left_shoulder_abduction_velocity",
                "left_shoulder_abduction_effort",
                "left_shoulder_rotation_position",
                "left_shoulder_rotation_velocity",
                "left_shoulder_abduction_effortleft_elbow_flexion_position",
                "left_elbow_flexion_velocity",
                "left_elbow_flexion_effort",
                "left_wrist_deviation_position",
                "left_wrist_deviation_velocity",
                "left_wrist_deviation_effort",
                "left_wrist_flexion_position",
                "left_wrist_flexion_velocity",
                "left_wrist_flexion_effort",
                "left_wrist_pronation_position",
                "left_wrist_pronation_velocity",
                "left_wrist_pronation_effort",
                "left_gripper_position",
                "left_gripper_velocity",
                "left_gripper_effort",
                "right_shoulder_flexion_position",
                "right_shoulder_flexion_velocity",
                "right_shoulder_flexion_effort",
                "right_shoulder_abduction_position",
                "right_shoulder_abduction_velocity",
                "right_shoulder_abduction_effort",
                "right_shoulder_rotation_position",
                "right_shoulder_rotation_velocity",
                "right_shoulder_abduction_effortright_elbow_flexion_position",
                "right_elbow_flexion_velocity",
                "right_elbow_flexion_effort",
                "right_wrist_deviation_position",
                "right_wrist_deviation_velocity",
                "right_wrist_deviation_effort",
                "right_wrist_flexion_position",
                "right_wrist_flexion_velocity",
                "right_wrist_flexion_effort",
                "right_wrist_pronation_position",
                "right_wrist_pronation_velocity",
                "right_wrist_pronation_effort",
                "right_gripper_position",
                "right_gripper_velocity",
                "right_gripper_effort",
                "torso_bottom_position",
                "torso_bottom_velocity",
                "torso_bottom_effort",
                "torso_mid_position",
                "torso_mid_velocity",
                "torso_mid_effort",
                "torso_top_position",
                "torso_top_velocity",
                "torso_top_effort",
                "torso_yaw_position",
                "torso_yaw_velocity",
                "torso_yaw_effort",
                "chassis_linear_x",
                "chassis_linear_y",
                "chassis_rotation_z"
            ]
        },
        "action": {
            "shape": [
                66
            ],
            "dtype": "float32",
            "names": [
                "left_shoulder_flexion_position",
                "left_shoulder_flexion_velocity",
                "left_shoulder_flexion_effort",
                "left_shoulder_abduction_position",
                "left_shoulder_abduction_velocity",
                "left_shoulder_abduction_effort",
                "left_shoulder_rotation_position",
                "left_shoulder_rotation_velocity",
                "left_shoulder_abduction_effortleft_elbow_flexion_position",
                "left_elbow_flexion_velocity",
                "left_elbow_flexion_effort",
                "left_wrist_deviation_position",
                "left_wrist_deviation_velocity",
                "left_wrist_deviation_effort",
                "left_wrist_flexion_position",
                "left_wrist_flexion_velocity",
                "left_wrist_flexion_effort",
                "left_wrist_pronation_position",
                "left_wrist_pronation_velocity",
                "left_wrist_pronation_effort",
                "left_gripper_position",
                "left_gripper_velocity",
                "left_gripper_effort",
                "right_shoulder_flexion_position",
                "right_shoulder_flexion_velocity",
                "right_shoulder_flexion_effort",
                "right_shoulder_abduction_position",
                "right_shoulder_abduction_velocity",
                "right_shoulder_abduction_effort",
                "right_shoulder_rotation_position",
                "right_shoulder_rotation_velocity",
                "right_shoulder_abduction_effortright_elbow_flexion_position",
                "right_elbow_flexion_velocity",
                "right_elbow_flexion_effort",
                "right_wrist_deviation_position",
                "right_wrist_deviation_velocity",
                "right_wrist_deviation_effort",
                "right_wrist_flexion_position",
                "right_wrist_flexion_velocity",
                "right_wrist_flexion_effort",
                "right_wrist_pronation_position",
                "right_wrist_pronation_velocity",
                "right_wrist_pronation_effort",
                "right_gripper_position",
                "right_gripper_velocity",
                "right_gripper_effort",
                "torso_bottom_position",
                "torso_bottom_velocity",
                "torso_bottom_effort",
                "torso_mid_position",
                "torso_mid_velocity",
                "torso_mid_effort",
                "torso_top_position",
                "torso_top_velocity",
                "torso_top_effort",
                "torso_yaw_position",
                "torso_yaw_velocity",
                "torso_yaw_effort",
                "chassis_linear_x",
                "chassis_linear_y",
                "chassis_linear_z",
                "chassis_angular_x",
                "chassis_angular_y",
                "chassis_angular_z"
            ]
        },
        "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
        }
    }
}