{
  "codebase_version": "v3.0",
  "robot_type": null,
  "total_episodes": 116,
  "total_frames": 19504,
  "total_tasks": 1,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "fps": 15,
  "splits": {
    "train": "0:116"
  },
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "features": {
    "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
    },
    "action": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": null,
      "fps": 15
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": null,
      "fps": 15
    },
    "observation.ee_pos_quat": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": null,
      "fps": 15
    },
    "observation.images": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ]
    }
  },
  "conversion": {
    "action_layout": "delta_ee_pose_quat: ee[t]+action[t]->ee[t+1]; dxyz(3)+q_delta_xyz(3)+gripper_target(1), qw>=0 implied",
    "action_delta_frame": "ee[t]+action[t]->ee[t+1]; translation: base; rotation: tool (q_t^-1 * q_{t+1})",
    "gripper_mapping": "control[6]: -1,0->open(0); 1->close(1)"
  },
  "video_path": "videos/observation.images/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
}