{ "codebase_version": "v3.0", "robot_type": "franka", "total_episodes": 1, "total_frames": 71, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 15, "splits": { "train": "0:1" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "features": { "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "delta_ee_pose.x", "delta_ee_pose.y", "delta_ee_pose.z", "delta_ee_pose.rx", "delta_ee_pose.ry", "delta_ee_pose.rz", "gripper_cmd_bin" ] }, "observation.state": { "dtype": "float32", "shape": [ 15 ], "names": [ "joint_1.pos", "joint_2.pos", "joint_3.pos", "joint_4.pos", "joint_5.pos", "joint_6.pos", "joint_7.pos", "gripper_state_norm", "gripper_cmd_bin", "ee_pose.x", "ee_pose.y", "ee_pose.z", "ee_pose.rx", "ee_pose.ry", "ee_pose.rz" ] }, "observation.images.wrist_image": { "dtype": "video", "shape": [ 376, 672, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 376, "video.width": 672, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.exterior_image": { "dtype": "video", "shape": [ 376, 672, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 376, "video.width": 672, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "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 } } }