{ "codebase_version": "v2.1", "robot_type": "franka_emika", "total_episodes": 18957, "total_frames": 1136536, "total_tasks": 389, "total_videos": 0, "total_chunks": 19, "chunks_size": 1000, "fps": 10, "splits": { "train": "0:18957" }, "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": { "observation.images.top": { "dtype": "image", "shape": [ 200, 200, 3 ], "names": [ "height", "width", "channel" ] }, "observation.images.wrist": { "dtype": "image", "shape": [ 84, 84, 3 ], "names": [ "height", "width", "channel" ] }, "observation.state": { "dtype": "float32", "shape": [ 15 ], "names": [ "state" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "action" ] }, "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 } } }