{
    "codebase_version": "v2.0",
    "data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
    "robot_type": "aloha",
    "total_episodes": 50,
    "total_frames": 25000,
    "total_tasks": 1,
    "fps": 50,
    "splits": {
        "train": "0:50"
    },
    "keys": [
        "observation.state",
        "action"
    ],
    "video_keys": [
        "observation.images.top"
    ],
    "image_keys": [],
    "shapes": {
        "observation.state": 14,
        "action": 14,
        "observation.images.top": {
            "width": 640,
            "height": 480,
            "channels": 3
        }
    },
    "names": {
        "observation.state": [
            "left_waist",
            "left_shoulder",
            "left_elbow",
            "left_forearm_roll",
            "left_wrist_angle",
            "left_wrist_rotate",
            "left_gripper",
            "right_waist",
            "right_shoulder",
            "right_elbow",
            "right_forearm_roll",
            "right_wrist_angle",
            "right_wrist_rotate",
            "right_gripper"
        ],
        "action": [
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            "left_shoulder",
            "left_elbow",
            "left_forearm_roll",
            "left_wrist_angle",
            "left_wrist_rotate",
            "left_gripper",
            "right_waist",
            "right_shoulder",
            "right_elbow",
            "right_forearm_roll",
            "right_wrist_angle",
            "right_wrist_rotate",
            "right_gripper"
        ]
    },
    "videos": {
        "videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4",
        "observation.images.top": {
            "video.fps": 50.0,
            "video.width": 640,
            "video.height": 480,
            "video.channels": 3,
            "video.codec": "av1",
            "video.pix_fmt": "yuv420p",
            "video.is_depth_map": false,
            "has_audio": false
        }
    }
}