{ "codebase_version": "v3.0", "robot_type": "aloha", "total_episodes": 60, "total_frames": 8586, "total_tasks": 6, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 20, "splits": { "train": "0:60" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": null, "features": { "observation.images.agentview_image": { "dtype": "image", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "rgb" ] }, "observation.images.right_wrist_image": { "dtype": "image", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "rgb" ] }, "observation.images.left_wrist_image": { "dtype": "image", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "rgb" ] }, "observation.state": { "dtype": "float32", "shape": [ 20 ], "names": { "motors": [ "x", "y", "z", "r1", "r2", "r3", "r4", "r5", "r6", "gripper", "x", "y", "z", "r1", "r2", "r3", "r4", "r5", "r6", "gripper" ] } }, "action": { "dtype": "float32", "shape": [ 20 ], "names": { "motors": [ "x", "y", "z", "r1", "r2", "r3", "r4", "r5", "r6", "gripper", "x", "y", "z", "r1", "r2", "r3", "r4", "r5", "r6", "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 } } }