{ "codebase_version": "v3.0", "robot_type": "crisp_ws", "total_episodes": 51, "total_frames": 17730, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 60, "splits": { "train": "0:51" }, "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": [ "twist_lx", "twist_ly", "twist_lz", "twist_ax", "twist_ay", "twist_az", "gripper_cmd" ], "shape": [ 7 ] }, "observation.images.front": { "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": 60, "video.channels": 3, "has_audio": false } }, "observation.images.wrist": { "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": 60, "video.channels": 3, "has_audio": false } }, "observation.images.imaging": { "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": 60, "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": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "observation.state": { "dtype": "float32", "shape": [ 16 ], "names": [ "observation.state.0", "observation.state.1", "observation.state.2", "observation.state.3", "observation.state.4", "observation.state.5", "observation.state.6", "observation.state.7", "observation.state.8", "observation.state.9", "observation.state.10", "observation.state.11", "observation.state.12", "observation.state.13", "observation.state.14", "observation.state.15" ] } } }