{
  "source_task_dir": "/mnt/18T/hlq/forcebenchmark/openpi-force/datasets/forcebenchmark_raw/forcebenchmarkpandausbinsertion_v1",
  "source_files": {
    "hdf5": "trajectory_rgb.h5",
    "metadata": "trajectory_rgb.json"
  },
  "output_repo_id": "forcebenchmark/forcebenchmarkpandausbinsertion_v1",
  "fps": 20.0,
  "prompt": "Keep the USB plug gently grasped, align it with the port, insert the tip fully into the socket without forcing it, and hold still.",
  "core_field_mapping": {
    "image": "obs/sensor_data/base_camera/rgb",
    "state": "concat(obs/agent/gripper_state, obs/agent/tcp_pose)",
    "actions": "actions (unaltered pd_ee_delta_pose)"
  },
  "include_source_signals": true,
  "converted_episodes": 1000,
  "source_env_info": {
    "env_id": "ForcebenchmarkPandaUSBInsertion-v1",
    "env_kwargs": {
      "control_mode": "pd_ee_delta_pose",
      "obs_mode": "rgb"
    }
  },
  "source_dataset_metadata": {
    "generated_by": "convert_to_h5.py",
    "timestamp": "2026-07-26T18:15:56",
    "num_episodes": 1000,
    "format_version": "1.0",
    "has_phase_id": true,
    "phase_timing": "pre_action",
    "phase_labels": {
      "0": "free_space",
      "1": "pre_contact",
      "2": "contact"
    }
  }
}