{ "format_version": 1, "episode_index": 13, "task_instruction": "Pick up the bread and place it on the plate", "created_at": "2026-09-17T05:30:10+0800", "duration_s": 15.6, "num_frames": 469, "control_hz": 100.0, "record_hz": 30.0, "stiffness_ratio": 1, "gripper_force_n": 80, "gripper_speed": 0.2, "teleop": { "left_sm_index": 0, "right_sm_index": 1, "left_pos_scale": 0.001, "right_pos_scale": 0.001, "left_rot_scale": 0.005, "right_rot_scale": 0.005, "translation_frame": "base", "operator_translation_signs": [ 1.0, 1.0, 1.0 ], "motion_threshold": 0.1, "rotation_motion_threshold": 0.05, "response_exponent": 2.0, "workspace_limit_disabled": true }, "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock", "left_robot_sn": "Rizon4-063609", "right_robot_sn": "Rizon4-063610", "left_start_position_deg": [ 43.32, -103.05, -52.6, 78.06, -20.03, 31.71, 45.47 ], "right_start_position_deg": [ -17.55, -108.92, 52.41, 44.52, 33.43, 19.96, -46.22 ], "cameras": { "left": "260322279602", "right": "260322271470", "overview": "254522075549" }, "camera_stream": { "width": 640, "height": 480, "fps": 30, "format": "color bgr8 encoded as JPEG" } }