{
    "codebase_version": "v2.1",
    "robot_type": "simulation_ur5e",
    "total_episodes": 3,
    "total_frames": 352,
    "total_tasks": 1,
    "total_videos": 9,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:3"
    },
    "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.pose": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw"
            ]
        },
        "observation.state.gripper": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "observation.state.joints": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "base",
                "shoulder",
                "elbow",
                "wrist1",
                "wrist2",
                "wrist3"
            ]
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_left": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_right": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.timestamps": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "robot",
                "camera_side",
                "camera_wrist_left",
                "camera_wrist_right"
            ]
        },
        "action.pose": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "dx",
                "dy",
                "dz",
                "droll",
                "dpitch",
                "dyaw"
            ]
        },
        "action.gripper": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "action.joints": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "base",
                "shoulder",
                "elbow",
                "wrist1",
                "wrist2",
                "wrist3"
            ]
        },
        "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
        }
    }
}