{
    "codebase_version": "v2.1",
    "robot_type": "franka",
    "total_episodes": 370,
    "total_frames": 146499,
    "total_tasks": 8,
    "total_videos": 752,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:370"
    },
    "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": {
        "observation.images.left_third_person_camera": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "video_info": {
                "video.fps": 30.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            },
            "info": {
                "video.height": 360,
                "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_third_person_camera_depth": {
            "dtype": "image",
            "shape": [
                360,
                640,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "video_info": {
                "video.fps": 30.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            },
            "info": {
                "video.height": 360,
                "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.wrist_depth": {
            "dtype": "image",
            "shape": [
                360,
                640,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.state.cartesian": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw"
            ]
        },
        "observation.state.gripper": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "observation.state.joints": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "observation.state.sensors_ft_sensor": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "sensors_ft_sensor_0",
                "sensors_ft_sensor_1",
                "sensors_ft_sensor_2",
                "sensors_ft_sensor_3",
                "sensors_ft_sensor_4",
                "sensors_ft_sensor_5"
            ]
        },
        "observation.state.target": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "target_x",
                "target_y",
                "target_z",
                "target_roll",
                "target_pitch",
                "target_yaw"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                26
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw",
                "gripper",
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "sensors_ft_sensor_0",
                "sensors_ft_sensor_1",
                "sensors_ft_sensor_2",
                "sensors_ft_sensor_3",
                "sensors_ft_sensor_4",
                "sensors_ft_sensor_5",
                "target_x",
                "target_y",
                "target_z",
                "target_roll",
                "target_pitch",
                "target_yaw"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw",
                "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
        }
    }
}