{ "codebase_version": "v2.1", "robot_type": "panda", "total_episodes": 100, "total_frames": 9871, "total_tasks": 4, "total_videos": 0, "total_chunks": 1, "chunks_size": 1000, "fps": 10, "splits": { "train": "0:100" }, "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": { "image": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ] }, "wrist_image": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ] }, "state": { "dtype": "float32", "shape": [ 7 ], "names": [ "state_0" ] }, "actions": { "dtype": "float32", "shape": [ 7 ], "names": [ "actions_0" ] }, "env_state": { "dtype": "float32", "shape": [ 156 ], "names": [ "env_state_0" ] }, "transformation_matrices": { "dtype": "float32", "shape": [ 16 ], "names": [ "transformation_matrices_0" ] }, "active_robot": { "dtype": "int64", "shape": [ 1 ], "names": [ "active_robot_0" ] }, "commanded_actions": { "dtype": "float32", "shape": [ 12 ], "names": [ "commanded_actions_0" ] }, "tcp_states": { "dtype": "float32", "shape": [ 12 ], "names": [ "tcp_states_0" ] }, "gripper_states": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper_states_0" ] }, "gripper_commands": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper_commands_0" ] }, "qpos": { "dtype": "float32", "shape": [ 7 ], "names": [ "qpos_0" ] }, "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 } } }