{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 255,
    "total_frames": 100547,
    "total_tasks": 3,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:255"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.main": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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": [
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
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    },
    "task1_all_plus_task2_grasp_close_prefix_raw": {
        "description": "Raw merge of all Task1 episodes plus one grasp-close prefix from each raw Task2 episode. No lighting augmentation.",
        "task1_source_datasets": [
            {
                "name": "task1_20260509",
                "repo_id": "ethrl2026/so101_pickup_20260509_173953_task1",
                "episode_blocks": [
                    {
                        "target_color": "blue",
                        "count": 20
                    },
                    {
                        "target_color": "red",
                        "count": 20
                    },
                    {
                        "target_color": "green",
                        "count": 20
                    }
                ]
            },
            {
                "name": "task1_extra_20260512",
                "repo_id": "ethrl2026/so101_pickup_20260512_173830_task1_extra",
                "episode_blocks": [
                    {
                        "target_color": "blue",
                        "count": 10
                    },
                    {
                        "target_color": "red",
                        "count": 10
                    },
                    {
                        "target_color": "green",
                        "count": 10
                    }
                ]
            },
            {
                "name": "task1_extra2_20260515_reupload2",
                "repo_id": "ethrl2026/so101_pickup_20260515_200119_task1_extra2",
                "episode_blocks": [
                    {
                        "target_color": "blue",
                        "count": 30
                    },
                    {
                        "target_color": "red",
                        "count": 30
                    },
                    {
                        "target_color": "green",
                        "count": 30
                    }
                ]
            }
        ],
        "task2_source_dataset": ".artifacts/hf_datasets/ethrl2026_so101_pickup_20260509_193247_task2",
        "task2_prefix_prompt_assignment": "Balanced random assignment of basic blue/red/green Task1 prompts; seed recorded below.",
        "seed": 42,
        "grasp_detector": {
            "action_dim": 5,
            "open_threshold": 35.0,
            "close_threshold": 8.0,
            "open_fraction": 0.55,
            "close_fraction": 0.12,
            "min_frames_after_open": 8,
            "close_search_window": 45,
            "post_grasp_frames": 20
        },
        "prefix_length_summary": {
            "count": 75,
            "min": 200,
            "mean": 281.50666666666666,
            "median": 282.0,
            "max": 365
        },
        "image_stats_note": "Action/state/index stats are recomputed. Image stats are copied from the first Task1 source dataset."
    }
}