{ "codebase_version": "v2.0", "robot_type": "panda", "total_episodes": 2000, "total_frames": 338575, "total_tasks": 40, "total_videos": 0, "total_chunks": 2, "chunks_size": 1000, "fps": 10, "splits": { "train": "0:1800", "val": "1800:2000" }, "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.front": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ] }, "observation.images.perturbed": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ] }, "observation.state": { "dtype": "float32", "shape": [ 8 ], "names": [ "eef_x", "eef_y", "eef_z", "axisangle_x", "axisangle_y", "axisangle_z", "gripper_0", "gripper_1" ] }, "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 } } }