{
    "codebase_version": "v3.0",
    "fps": 20,
    "features": {
        "observation.images.image": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.image2": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "pos_0",
                    "pos_1",
                    "pos_2",
                    "axisangle_0",
                    "axisangle_1",
                    "axisangle_2",
                    "gripper_0",
                    "gripper_1"
                ]
            },
            "fps": 20
        },
        "action": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": {
                "motors": [
                    "pos_0",
                    "pos_1",
                    "pos_2",
                    "rot6d_0",
                    "rot6d_1",
                    "rot6d_2",
                    "rot6d_3",
                    "rot6d_4",
                    "rot6d_5",
                    "gripper_0"
                ]
            },
            "fps": 20
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        }
    },
    "total_episodes": 1693,
    "total_frames": 273465,
    "total_tasks": 40,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "franka",
    "splits": {
        "train": "0:1693"
    }
}