{ "codebase_version": "v2.0", "robot_type": "single_arm", "fps": 60, "features": { "observation.state": { "dtype": "float32", "shape": [ 9 ], "names": { "axes": [ "cam_x", "cam_y", "cam_z", "left_x", "left_y", "left_z", "right_x", "right_y", "right_z" ] } }, "observation.images.top": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "video_info": { "video.fps": 30.0, "video.codec": "mp4v", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "action": { "dtype": "float32", "shape": [ 1 ], "names": [ "dx" ] } }, "total_episodes": 1, "total_frames": 1079, "chunks_size": 1000, "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" }