{
    "codebase_version": "v3.0",
    "robot_type": "aloha",
    "total_episodes": 500,
    "total_frames": 222811,
    "total_tasks": 144,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "splits": {
        "train": "0:500"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                [
                    "left_x",
                    "left_y",
                    "left_z",
                    "left_qw",
                    "left_qx",
                    "left_qy",
                    "left_qz",
                    "left_gripper",
                    "right_x",
                    "right_y",
                    "right_z",
                    "right_qw",
                    "right_qx",
                    "right_qy",
                    "right_qz",
                    "right_gripper"
                ]
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                20,
                14
            ],
            "names": [
                [
                    "left_x",
                    "left_y",
                    "left_z",
                    "left_axis_angle1",
                    "left_axis_angle2",
                    "left_axis_angle3",
                    "left_gripper",
                    "right_x",
                    "right_y",
                    "right_z",
                    "right_axis_angle1",
                    "right_axis_angle2",
                    "right_axis_angle3",
                    "right_gripper"
                ]
            ]
        },
        "observation.images.cam_high": {
            "dtype": "image",
            "shape": [
                3,
                240,
                320
            ],
            "names": [
                "channels",
                "height",
                "width"
            ]
        },
        "observation.images.cam_left_wrist": {
            "dtype": "image",
            "shape": [
                3,
                240,
                320
            ],
            "names": [
                "channels",
                "height",
                "width"
            ]
        },
        "observation.images.cam_right_wrist": {
            "dtype": "image",
            "shape": [
                3,
                240,
                320
            ],
            "names": [
                "channels",
                "height",
                "width"
            ]
        },
        "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
        }
    }
}