{
    "codebase_version": "v3.0",
    "fps": 8,
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                19
            ],
            "names": [
                "arm_right_joint_1",
                "arm_right_joint_2",
                "arm_right_joint_3",
                "arm_right_joint_4",
                "arm_right_joint_5",
                "arm_right_joint_6",
                "arm_right_joint_7",
                "arm_right_joint_8",
                "arm_left_joint_1",
                "arm_left_joint_2",
                "arm_left_joint_3",
                "arm_left_joint_4",
                "arm_left_joint_5",
                "arm_left_joint_6",
                "arm_left_joint_7",
                "arm_left_joint_8",
                "base_cmd_linear_x",
                "base_cmd_angular_z",
                "turntable_joint_vel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                19
            ],
            "names": [
                "arm_right_joint_1",
                "arm_right_joint_2",
                "arm_right_joint_3",
                "arm_right_joint_4",
                "arm_right_joint_5",
                "arm_right_joint_6",
                "arm_right_joint_7",
                "arm_right_joint_8",
                "arm_left_joint_1",
                "arm_left_joint_2",
                "arm_left_joint_3",
                "arm_left_joint_4",
                "arm_left_joint_5",
                "arm_left_joint_6",
                "arm_left_joint_7",
                "arm_left_joint_8",
                "base_cmd_linear_x",
                "base_cmd_angular_z",
                "turntable_joint_pos"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.ego": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "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
        }
    },
    "total_episodes": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "oscar",
    "splits": {}
}