{ "codebase_version": "v2.1", "robot_type": "umi_gripper", "total_episodes": 5, "total_frames": 5940, "total_tasks": 4, "total_videos": 10, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:5" }, "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.left_ego": { "dtype": "video", "shape": [ 960, 960, 3 ], "names": [ "height", "width", "channels" ], "video_info": { "video.is_depth_map": false, "video.fps": 30, "video.codec": "h264", "video.pix_fmt": "yuv420p", "has_audio": false } }, "observation.images.right_ego": { "dtype": "video", "shape": [ 960, 960, 3 ], "names": [ "height", "width", "channels" ], "video_info": { "video.is_depth_map": false, "video.fps": 30, "video.codec": "h264", "video.pix_fmt": "yuv420p", "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 16 ], "names": [ "left_x", "left_y", "left_z", "left_qw", "left_qx", "left_qy", "left_qz", "left_gripper", "right_x", "right_y", "right_z", "right_qw", "right_qx", "right_qy", "right_qz", "right_gripper" ] }, "action": { "dtype": "float32", "shape": [ 16 ], "names": [ "left_x", "left_y", "left_z", "left_qw", "left_qx", "left_qy", "left_qz", "left_gripper", "right_x", "right_y", "right_z", "right_qw", "right_qx", "right_qy", "right_qz", "right_gripper" ] }, "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 } } }