{
    "codebase_version": "v3.0",
    "fps": 15,
    "features": {
        "observation.images.overhead": {
            "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.fps": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.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.fps": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "panda_joint1",
                "panda_joint2",
                "panda_joint3",
                "panda_joint4",
                "panda_joint5",
                "panda_joint6",
                "panda_joint7",
                "gripper"
            ]
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "moved.x",
                "moved.y",
                "moved.z",
                "moved.qw",
                "moved.qx",
                "moved.qy",
                "moved.qz",
                "base.x",
                "base.y",
                "base.z",
                "base.qw",
                "base.qx",
                "base.qy",
                "base.qz"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "panda_joint1",
                "panda_joint2",
                "panda_joint3",
                "panda_joint4",
                "panda_joint5",
                "panda_joint6",
                "panda_joint7",
                "gripper"
            ]
        },
        "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
        }
    },
    "total_episodes": 100,
    "total_frames": 31660,
    "total_tasks": 1,
    "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": "0:100"
    }
}