{ "codebase_version": "v2.1", "robot_type": "panda_wristcam", "total_episodes": 6, "total_frames": 1593, "total_tasks": 1, "total_videos": 0, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:6" }, "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.state": { "dtype": "float32", "shape": [ 9 ], "names": [ [ "panda_joint1", "panda_joint2", "panda_joint3", "panda_joint4", "panda_joint5", "panda_joint6", "panda_joint7", "panda_finger_joint1", "panda_finger_joint2" ] ] }, "action": { "dtype": "float32", "shape": [ 8 ], "names": [ [ "panda_joint1", "panda_joint2", "panda_joint3", "panda_joint4", "panda_joint5", "panda_joint6", "panda_joint7", "panda_finger" ] ] }, "observation.box.pose": { "dtype": "float32", "shape": [ 7 ], "names": [ [ "x", "y", "z", "qx", "qy", "qz", "qw" ] ] }, "observation.images.base_camera": { "dtype": "image", "shape": [ 3, 256, 256 ], "names": [ "channels", "height", "width" ] }, "observation.depth.base_camera": { "dtype": "image", "shape": [ 1, 256, 256 ], "names": [ "channels", "height", "width" ] }, "sensors.base_camera.extrinsic_cv": { "dtype": "float32", "shape": [ 3, 4 ], "names": [ "extrinsic_cv" ] }, "sensors.base_camera.intrinsic_cv": { "dtype": "float32", "shape": [ 3, 3 ], "names": [ "intrinsic_cv" ] }, "sensors.base_camera.cam2world_gl": { "dtype": "float32", "shape": [ 4, 4 ], "names": [ "cam2world_gl" ] }, "observation.images.hand_camera": { "dtype": "image", "shape": [ 3, 256, 256 ], "names": [ "channels", "height", "width" ] }, "observation.depth.hand_camera": { "dtype": "image", "shape": [ 1, 256, 256 ], "names": [ "channels", "height", "width" ] }, "sensors.hand_camera.extrinsic_cv": { "dtype": "float32", "shape": [ 3, 4 ], "names": [ "extrinsic_cv" ] }, "sensors.hand_camera.intrinsic_cv": { "dtype": "float32", "shape": [ 3, 3 ], "names": [ "intrinsic_cv" ] }, "sensors.hand_camera.cam2world_gl": { "dtype": "float32", "shape": [ 4, 4 ], "names": [ "cam2world_gl" ] }, "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 } } }