{ "codebase_version": "v3.0", "robot_type": "alex", "total_episodes": 20, "total_frames": 5800, "total_tasks": 1, "total_chunks": 1, "chunks_size": 1000, "fps": 30.0, "splits": { "train": "0:20" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "features": { "observation.images.cam_zed_left": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "fps": 30.0, "video_info": { "video.fps": 30.0, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.cam_zed_right": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "fps": 30.0, "video_info": { "video.fps": 30.0, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 28 ], "names": { "motors": [ "left_gripper_x", "left_gripper_y", "left_gripper_z", "left_gripper_qx", "left_gripper_qy", "left_gripper_qz", "left_gripper_qs", "right_gripper_x", "right_gripper_y", "right_gripper_z", "right_gripper_qx", "right_gripper_qy", "right_gripper_qz", "right_gripper_qs", "neck_y", "neck_z", "left_ability_hand_index_q1", "left_ability_hand_middle_q1", "left_ability_hand_ring_q1", "left_ability_hand_pinky_q1", "left_ability_hand_thumb_q1", "left_ability_hand_thumb_q2", "right_ability_hand_index_q1", "right_ability_hand_middle_q1", "right_ability_hand_ring_q1", "right_ability_hand_pinky_q1", "right_ability_hand_thumb_q1", "right_ability_hand_thumb_q2" ] }, "fps": 30.0 }, "action": { "dtype": "float32", "shape": [ 28 ], "names": { "motors": [ "left_gripper_x", "left_gripper_y", "left_gripper_z", "left_gripper_qx", "left_gripper_qy", "left_gripper_qz", "left_gripper_qs", "right_gripper_x", "right_gripper_y", "right_gripper_z", "right_gripper_qx", "right_gripper_qy", "right_gripper_qz", "right_gripper_qs", "neck_y", "neck_z", "left_ability_hand_index_q1", "left_ability_hand_middle_q1", "left_ability_hand_ring_q1", "left_ability_hand_pinky_q1", "left_ability_hand_thumb_q1", "left_ability_hand_thumb_q2", "right_ability_hand_index_q1", "right_ability_hand_middle_q1", "right_ability_hand_ring_q1", "right_ability_hand_pinky_q1", "right_ability_hand_thumb_q1", "right_ability_hand_thumb_q2" ] }, "fps": 30.0 }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 30.0 }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 30.0 }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null, "fps": 30.0 }, "next.done": { "dtype": "bool", "shape": [ 1 ], "names": null, "fps": 30.0 }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 30.0 }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 30.0 } } }