{
    "codebase_version": "v2.1",
    "robot_type": "bi_franka_fr3_robotiq_gripper",
    "total_episodes": 39,
    "total_frames": 22458,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:39"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_joint_positions_0",
                "left_joint_positions_1",
                "left_joint_positions_2",
                "left_joint_positions_3",
                "left_joint_positions_4",
                "left_joint_positions_5",
                "left_joint_positions_6",
                "left_joint_positions_7",
                "right_joint_positions_0",
                "right_joint_positions_1",
                "right_joint_positions_2",
                "right_joint_positions_3",
                "right_joint_positions_4",
                "right_joint_positions_5",
                "right_joint_positions_6",
                "right_joint_positions_7"
            ],
            "shape": [
                16
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_joint_positions_0",
                "left_joint_positions_1",
                "left_joint_positions_2",
                "left_joint_positions_3",
                "left_joint_positions_4",
                "left_joint_positions_5",
                "left_joint_positions_6",
                "left_joint_positions_7",
                "right_joint_positions_0",
                "right_joint_positions_1",
                "right_joint_positions_2",
                "right_joint_positions_3",
                "right_joint_positions_4",
                "right_joint_positions_5",
                "right_joint_positions_6",
                "right_joint_positions_7"
            ],
            "shape": [
                16
            ]
        },
        "observation.images.left_camera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.right_camera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "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_chunks": 1,
    "total_videos": 78
}