{ "codebase_version": "v3.0", "robot_type": "yam", "total_episodes": 5, "total_frames": 7140, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 31, "splits": { "train": "0:5" }, "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": { "observation.state": { "dtype": "float32", "shape": [ 12 ], "names": [ "joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "left_gripper_opening", "left_gripper_speed", "left_gripper_force", "right_gripper_opening", "right_gripper_speed", "right_gripper_force" ] }, "action": { "dtype": "float32", "shape": [ 8 ], "names": [ "joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "left_gripper_command", "right_gripper_command" ] }, "observation.images.robot1_wrist": { "dtype": "video", "shape": [ 3, 1080, 1920 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 1080, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 31, "video.channels": 3, "has_audio": false } }, "observation.images.overhead": { "dtype": "video", "shape": [ 3, 1080, 1920 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 1080, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 31, "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 } } }