{ "codebase_version": "v2.1", "robot_type": "franka", "total_episodes": 1000, "total_frames": 122488, "total_tasks": 1, "total_videos": 0, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:1000" }, "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": [ 8 ], "names": [ "panda_joint1.pos", "panda_joint2.pos", "panda_joint3.pos", "panda_joint4.pos", "panda_joint5.pos", "panda_joint6.pos", "panda_joint7.pos", "gripper.pos" ] }, "observation.state": { "dtype": "float32", "shape": [ 9 ], "names": [ "panda_joint1.pos", "panda_joint2.pos", "panda_joint3.pos", "panda_joint4.pos", "panda_joint5.pos", "panda_joint6.pos", "panda_joint7.pos", "finger1.pos", "finger2.pos" ] }, "observation.images.up": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ] }, "observation.images.wrist": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ] }, "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 } } }