{
  "codebase_version": "v3.0",
  "robot_type": "xarm7",
  "total_episodes": 3,
  "total_frames": 1370,
  "total_tasks": 1,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "fps": 30,
  "splits": {
    "train": "0:3"
  },
  "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",
  "depth_path": "depth/{camera_key}/chunk-{chunk_index:03d}/episode_{episode_index:03d}/{frame_index:06d}.png",
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        8
      ],
      "names": [
        "Left_joint1",
        "Left_joint2",
        "Left_joint3",
        "Left_joint4",
        "Left_joint5",
        "Left_joint6",
        "Left_joint7",
        "Left_right_finger_joint"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        13
      ],
      "names": [
        "left_x",
        "left_y",
        "left_z",
        "left_qx",
        "left_qy",
        "left_qz",
        "left_qw",
        "left_press_index",
        "left_press_middle",
        "left_button_upper",
        "left_button_lower",
        "left_thumb_stick_h",
        "left_thumb_stick_v"
      ]
    },
    "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
    },
    "observation.images.camera_left": {
      "dtype": "video",
      "shape": [
        3,
        480,
        848
      ],
      "names": [
        "channel",
        "height",
        "width"
      ],
      "info": {
        "video.fps": 30,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "has_audio": false
      }
    },
    "observation.images.camera_top": {
      "dtype": "video",
      "shape": [
        3,
        480,
        848
      ],
      "names": [
        "channel",
        "height",
        "width"
      ],
      "info": {
        "video.fps": 30,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "has_audio": false
      }
    },
    "observation.depth.camera_left.path": {
      "dtype": "string",
      "shape": [
        1
      ],
      "names": null,
      "info": {
        "format": "png_uint16_mm",
        "image_shape": [
          1,
          480,
          848
        ],
        "note": "Path is relative to dataset root. Load with cv2.imread(path, cv2.IMREAD_UNCHANGED)."
      }
    },
    "observation.depth.camera_top.path": {
      "dtype": "string",
      "shape": [
        1
      ],
      "names": null,
      "info": {
        "format": "png_uint16_mm",
        "image_shape": [
          1,
          480,
          848
        ],
        "note": "Path is relative to dataset root. Load with cv2.imread(path, cv2.IMREAD_UNCHANGED)."
      }
    }
  },
  "objects": {
    "nest_reservoir": {
      "name": "nest_reservoir",
      "source_path": "NEST 12 Row Reservoir 22mL.obj",
      "unit": "mm",
      "scale_to_m": 0.001,
      "mesh_file": "mesh.obj",
      "n_vertices": 6342,
      "n_faces": 7716
    }
  },
  "cameras_path": "meta/cameras.json"
}