{ "codebase_version": "v3.0", "trossen_subversion": "v1.0", "robot_type": "ur5", "total_episodes": 61, "total_frames": 23197, "total_tasks": 4, "chunks_size": 1000, "fps": 20, "splits": { "train": "0:50", "val": "50:61" }, "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.image": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.height": 480, "video.width": 480, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 8 ], "names": { "motors": [ "x", "y", "z", "qx", "qy", "qz", "qw", "gripper" ] }, "fps": 20 }, "action": { "dtype": "float32", "shape": [ 7 ], "names": { "motors": [ "dx", "dy", "dz", "dRx", "dRy", "dRz", "dGrip" ] }, "fps": 20 }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null, "fps": 20 }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 20 }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 20 }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 20 }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 20 } }, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500 }