{
    "codebase_version": "v3.0",
    "robot_type": "genie01",
    "total_episodes": 200,
    "total_frames": 40717,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:200"
    },
    "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",
    "features": {
        "observation.images.head": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "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.hand_left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "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.hand_right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "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.state": {
            "dtype": "float32",
            "shape": [
                52
            ],
            "names": [
                "left_arm_0.pos",
                "left_arm_1.pos",
                "left_arm_2.pos",
                "left_arm_3.pos",
                "left_arm_4.pos",
                "left_arm_5.pos",
                "left_arm_6.pos",
                "right_arm_0.pos",
                "right_arm_1.pos",
                "right_arm_2.pos",
                "right_arm_3.pos",
                "right_arm_4.pos",
                "right_arm_5.pos",
                "right_arm_6.pos",
                "left_gripper.pos",
                "right_gripper.pos",
                "head.yaw",
                "head.pitch",
                "waist.pitch",
                "waist.lift",
                "left_arm.fx",
                "left_arm.fy",
                "left_arm.fz",
                "left_arm.tx",
                "left_arm.ty",
                "left_arm.tz",
                "right_arm.fx",
                "right_arm.fy",
                "right_arm.fz",
                "right_arm.tx",
                "right_arm.ty",
                "right_arm.tz",
                "left_arm.x",
                "left_arm.y",
                "left_arm.z",
                "left_arm.roll",
                "left_arm.pitch",
                "left_arm.yaw",
                "left_arm.qw",
                "left_arm.qx",
                "left_arm.qy",
                "left_arm.qz",
                "right_arm.x",
                "right_arm.y",
                "right_arm.z",
                "right_arm.roll",
                "right_arm.pitch",
                "right_arm.yaw",
                "right_arm.qw",
                "right_arm.qx",
                "right_arm.qy",
                "right_arm.qz"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                40
            ],
            "names": [
                "left_arm_0.pos",
                "left_arm_1.pos",
                "left_arm_2.pos",
                "left_arm_3.pos",
                "left_arm_4.pos",
                "left_arm_5.pos",
                "left_arm_6.pos",
                "right_arm_0.pos",
                "right_arm_1.pos",
                "right_arm_2.pos",
                "right_arm_3.pos",
                "right_arm_4.pos",
                "right_arm_5.pos",
                "right_arm_6.pos",
                "left_gripper.pos",
                "right_gripper.pos",
                "head.yaw",
                "head.pitch",
                "waist.pitch",
                "waist.lift",
                "left_arm.x",
                "left_arm.y",
                "left_arm.z",
                "left_arm.roll",
                "left_arm.pitch",
                "left_arm.yaw",
                "left_arm.qw",
                "left_arm.qx",
                "left_arm.qy",
                "left_arm.qz",
                "right_arm.x",
                "right_arm.y",
                "right_arm.z",
                "right_arm.roll",
                "right_arm.pitch",
                "right_arm.yaw",
                "right_arm.qw",
                "right_arm.qx",
                "right_arm.qy",
                "right_arm.qz"
            ]
        },
        "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
        }
    }
}