{ "codebase_version": "v2.1", "robot_type": "so100", "fps": 20.0, "total_episodes": 169, "total_frames": 130524, "total_tasks": 1, "total_videos": 169, "features": { "observation.images.rgb": { "dtype": "video", "shape": [ 360, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 20.0, "video.codec": "mp4", "video.pix_fmt": "yuv420p", "video.is_depth_map": false } }, "action": { "dtype": "float32", "shape": [ 6 ], "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ] }, "observation.state": { "dtype": "float32", "shape": [ 6 ], "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ] }, "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 } }, "splits": { "train": "0:130524" }, "camera_keys": [ "observation.images.rgb" ], "video": true, "chunks_size": 10000, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_paths": { "observation.images.rgb": "videos/chunk-{episode_chunk:03d}/observation.images.rgb/episode_{episode_index:06d}.mp4" }, "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4" }