{ "codebase_version": "v2.1", "robot_type": null, "total_episodes": 65, "total_frames": 24751, "total_tasks": 1, "chunks_size": 1000, "fps": 15, "splits": { "train": "0:65" }, "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.proprio.joint_pos": { "shape": [ 7 ], "dtype": "float32" }, "observation.proprio.gripper": { "shape": [ 1 ], "dtype": "float32" }, "observation.proprio.ee_pos": { "shape": [ 3 ], "dtype": "float32" }, "observation.proprio.ee_rot": { "shape": [ 4 ], "dtype": "float32" }, "observation.target.gripper": { "shape": [ 1 ], "dtype": "float32" }, "observation.target.joint_pos": { "shape": [ 7 ], "dtype": "float32" }, "observation.images.gripper_cam.rgb": { "shape": [ 3, 480, 640 ], "dtype": "video", "info": { "video.height": 480, "video.width": 640, "video.codec": "hevc", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.left_cam.left": { "shape": [ 3, 720, 1280 ], "dtype": "video", "info": { "video.height": 720, "video.width": 1280, "video.codec": "hevc", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.right_cam.left": { "shape": [ 3, 720, 1280 ], "dtype": "video", "info": { "video.height": 720, "video.width": 1280, "video.codec": "hevc", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "action.gripper": { "shape": [ 1 ], "dtype": "float32" }, "action.joint_pos": { "shape": [ 7 ], "dtype": "float32" }, "action.ee_pos": { "shape": [ 3 ], "dtype": "float32" }, "action.ee_rot": { "shape": [ 4 ], "dtype": "float32" }, "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 } }, "total_chunks": 1, "total_videos": 195 }