{
    "codebase_version": "v2.1",
    "robot_type": "Franka",
    "total_episodes": 71,
    "total_frames": 22552,
    "total_tasks": 71,
    "total_videos": 142,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:71"
    },
    "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",
            "shape": [
                7
            ],
            "names": [
                "eef_tx",
                "eef_ty",
                "eef_tz",
                "eef_rx",
                "eef_ry",
                "eef_rz",
                "gripper_width"
            ],
            "info": "x, y, z, axis-angle-rx, axis-angle-ry, axis-angle-rz, gripper_width"
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "eef_tx",
                "eef_ty",
                "eef_tz",
                "eef_rx",
                "eef_ry",
                "eef_rz",
                "gripper_width"
            ],
            "info": "x, y, z, axis-angle-rx, axis-angle-ry, axis-angle-rz, gripper_width"
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.external": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "An external (third-person) view."
        },
        "observation.img_valid_mask": {
            "dtype": "int8",
            "shape": [
                2
            ],
            "names": [
                "wrist_valid",
                "external_valid"
            ],
            "info": "1 is valid. 0 is not valid, aka mocked image"
        },
        "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
        }
    }
}