{
    "codebase_version": "v2.1",
    "robot_type": "lift2",
    "total_episodes": 200,
    "total_frames": 87120,
    "total_tasks": 5,
    "total_videos": 800,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:200"
    },
    "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": {
        "state.joints": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7",
                    "joint_8",
                    "joint_9",
                    "joint_10",
                    "joint_11"
                ]
            ]
        },
        "action.joints": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7",
                    "joint_8",
                    "joint_9",
                    "joint_10",
                    "joint_11"
                ]
            ]
        },
        "action.joints_delta": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7",
                    "joint_8",
                    "joint_9",
                    "joint_10",
                    "joint_11"
                ]
            ]
        },
        "state.gripper": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                [
                    "gripper_1_left",
                    "gripper_1_right",
                    "gripper_2_left",
                    "gripper_2_right"
                ]
            ]
        },
        "action.gripper": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                [
                    "gripper_1_left",
                    "gripper_1_right",
                    "gripper_2_left",
                    "gripper_2_right"
                ]
            ]
        },
        "state.ee_pose": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                [
                    "ee0_x",
                    "ee0_y",
                    "ee0_z",
                    "ee0_qw",
                    "ee0_qx",
                    "ee0_qy",
                    "ee0_qz",
                    "ee1_x",
                    "ee1_y",
                    "ee1_z",
                    "ee1_qw",
                    "ee1_qx",
                    "ee1_qy",
                    "ee1_qz"
                ]
            ]
        },
        "action.ee_pose": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                [
                    "ee0_x",
                    "ee0_y",
                    "ee0_z",
                    "ee0_qw",
                    "ee0_qx",
                    "ee0_qy",
                    "ee0_qz",
                    "ee1_x",
                    "ee1_y",
                    "ee1_z",
                    "ee1_qw",
                    "ee1_qx",
                    "ee1_qy",
                    "ee1_qz"
                ]
            ]
        },
        "action.ee_pose_delta": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                [
                    "ee0_x",
                    "ee0_y",
                    "ee0_z",
                    "ee0_qw",
                    "ee0_qx",
                    "ee0_qy",
                    "ee0_qz",
                    "ee1_x",
                    "ee1_y",
                    "ee1_z",
                    "ee1_qw",
                    "ee1_qx",
                    "ee1_qy",
                    "ee1_qz"
                ]
            ]
        },
        "state.base": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                [
                    "base_x",
                    "base_y",
                    "base_theta"
                ]
            ]
        },
        "action.base": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                [
                    "base_x",
                    "base_y",
                    "base_theta"
                ]
            ]
        },
        "action.base_delta": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                [
                    "base_x",
                    "base_y",
                    "base_theta"
                ]
            ]
        },
        "video.top_camera_view": {
            "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": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "video.left_camera_view": {
            "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": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "video.right_camera_view": {
            "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": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "video.overlook_camera_view": {
            "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": 15,
                "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
        }
    }
}