{
    "codebase_version": "v2.1",
    "robot_type": "dual_arx_x5_vr",
    "total_episodes": 135,
    "total_frames": 84594,
    "total_tasks": 1,
    "total_videos": 405,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:135"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "state.joint": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left.joint1_rad",
                "left.joint2_rad",
                "left.joint3_rad",
                "left.joint4_rad",
                "left.joint5_rad",
                "left.joint6_rad",
                "left.gripper_open",
                "right.joint1_rad",
                "right.joint2_rad",
                "right.joint3_rad",
                "right.joint4_rad",
                "right.joint5_rad",
                "right.joint6_rad",
                "right.gripper_open"
            ]
        },
        "action.joint": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left.joint1_rad",
                "left.joint2_rad",
                "left.joint3_rad",
                "left.joint4_rad",
                "left.joint5_rad",
                "left.joint6_rad",
                "left.gripper_open",
                "right.joint1_rad",
                "right.joint2_rad",
                "right.joint3_rad",
                "right.joint4_rad",
                "right.joint5_rad",
                "right.joint6_rad",
                "right.gripper_open"
            ]
        },
        "state.eef": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left.x_mm",
                "left.y_mm",
                "left.z_mm",
                "left.rx_rad",
                "left.ry_rad",
                "left.rz_rad",
                "left.gripper_open",
                "right.x_mm",
                "right.y_mm",
                "right.z_mm",
                "right.rx_rad",
                "right.ry_rad",
                "right.rz_rad",
                "right.gripper_open"
            ]
        },
        "action.eef": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left.x_mm",
                "left.y_mm",
                "left.z_mm",
                "left.rx_rad",
                "left.ry_rad",
                "left.rz_rad",
                "left.gripper_open",
                "right.x_mm",
                "right.y_mm",
                "right.z_mm",
                "right.rx_rad",
                "right.ry_rad",
                "right.rz_rad",
                "right.gripper_open"
            ]
        },
        "observation.images.third_view": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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
        }
    },
    "teleoperation": {
        "execution_mode": "hardware",
        "hardware_executed": true,
        "video_encoding_workers": 1,
        "episode_start_semantics": "first active controller trigger after arming",
        "eef_state_action_order": [
            "left.x_mm",
            "left.y_mm",
            "left.z_mm",
            "left.rx_rad",
            "left.ry_rad",
            "left.rz_rad",
            "left.gripper_open",
            "right.x_mm",
            "right.y_mm",
            "right.z_mm",
            "right.rx_rad",
            "right.ry_rad",
            "right.rz_rad",
            "right.gripper_open"
        ],
        "joint_state_action_order": [
            "left.joint1_rad",
            "left.joint2_rad",
            "left.joint3_rad",
            "left.joint4_rad",
            "left.joint5_rad",
            "left.joint6_rad",
            "left.gripper_open",
            "right.joint1_rad",
            "right.joint2_rad",
            "right.joint3_rad",
            "right.joint4_rad",
            "right.joint5_rad",
            "right.joint6_rad",
            "right.gripper_open"
        ],
        "joint_state_semantics": "measured joint feedback in radians",
        "translation_unit": "mm",
        "rotation_unit": "axis_angle_rad",
        "inactive_action_semantics": "Cartesian action holds current observation",
        "joint_target_semantics": "joint position target sent to ARX SDK in radians, before SDK internal limiting",
        "joint_target_hold_semantics": "last sent per-arm target, initialized from configured home joints"
    }
}