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index 28df5f900b358436f0267334b3e3e9af33f917ba..10992faff164c369ce55ec136c93723dd2afd076 100644
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diff --git a/dataset_info.json b/dataset_info.json
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+++ b/dataset_info.json
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+{
+  "citation": "@article{shi2023robocook,\n  title={RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools},\n  author={Shi, Haochen and Xu, Huazhe and Clarke, Samuel and Li, Yunzhu and Wu, Jiajun},\n  journal={arXiv preprint arXiv:2306.14447},\n  year={2023}\n}",
+  "description": "Franka preparing dumplings with various tools",
+  "fileFormat": "tfrecord",
+  "location": {
+    "urls": [
+      "https://hshi74.github.io/robocook/"
+    ]
+  },
+  "moduleName": "tensorflow_datasets.robotics.rtx.rtx",
+  "name": "stanford_robocook_converted_externally_to_rlds",
+  "releaseNotes": {
+    "0.1.0": "Initial release."
+  },
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diff --git a/features.json b/features.json
new file mode 100644
index 0000000000000000000000000000000000000000..246964314c1995f31e4dea8bd1d18542e23d2400
--- /dev/null
+++ b/features.json
@@ -0,0 +1,297 @@
+{
+    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+    "featuresDict": {
+        "features": {
+            "episode_metadata": {
+                "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                "featuresDict": {
+                    "features": {
+                        "extrinsics_4": {
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                            "tensor": {
+                                "shape": {
+                                    "dimensions": [
+                                        "4",
+                                        "4"
+                                    ]
+                                },
+                                "dtype": "float32",
+                                "encoding": "none"
+                            },
+                            "description": "Camera 4 Extrinsic Matrix."
+                        },
+                        "extrinsics_2": {
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                            "tensor": {
+                                "shape": {
+                                    "dimensions": [
+                                        "4",
+                                        "4"
+                                    ]
+                                },
+                                "dtype": "float32",
+                                "encoding": "none"
+                            },
+                            "description": "Camera 2 Extrinsic Matrix."
+                        },
+                        "extrinsics_3": {
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                            "tensor": {
+                                "shape": {
+                                    "dimensions": [
+                                        "4",
+                                        "4"
+                                    ]
+                                },
+                                "dtype": "float32",
+                                "encoding": "none"
+                            },
+                            "description": "Camera 3 Extrinsic Matrix."
+                        },
+                        "extrinsics_1": {
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                            "tensor": {
+                                "shape": {
+                                    "dimensions": [
+                                        "4",
+                                        "4"
+                                    ]
+                                },
+                                "dtype": "float32",
+                                "encoding": "none"
+                            },
+                            "description": "Camera 1 Extrinsic Matrix."
+                        },
+                        "file_path": {
+                            "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                            "text": {},
+                            "description": "Path to the original data file."
+                        }
+                    }
+                }
+            },
+            "steps": {
+                "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
+                "sequence": {
+                    "feature": {
+                        "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                        "featuresDict": {
+                            "features": {
+                                "reward": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Reward if provided, 1 on final step for demos."
+                                },
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "language_instruction": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "Language Instruction."
+                                },
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "depth_2": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Camera 2 Depth observation."
+                                            },
+                                            "image_1": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Camera 1 RGB observation."
+                                            },
+                                            "depth_1": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Camera 1 Depth observation."
+                                            },
+                                            "state": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Robot state, consists of [3x robot end-effector position, 3x robot end-effector euler angles, 1x gripper position]."
+                                            },
+                                            "depth_4": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Camera 4 Depth observation."
+                                            },
+                                            "image_2": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Camera 2 RGB observation."
+                                            },
+                                            "image_4": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Camera 4 RGB observation."
+                                            },
+                                            "depth_3": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Camera 3 Depth observation."
+                                            },
+                                            "image_3": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Camera 3 RGB observation."
+                                            }
+                                        }
+                                    }
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Robot action, consists of [3x robot end-effector velocities, 3x robot end-effector angular velocities, 1x gripper velocity]."
+                                },
+                                "is_terminal": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "discount": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Discount if provided, default to 1."
+                                },
+                                "language_embedding": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "512"
+                                            ]
+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
+                                }
+                            }
+                        }
+                    },
+                    "length": "-1"
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
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