{ "codebase_version": "v2.1", "robot_type": "realman75", "total_episodes": 200, "total_frames": 44846, "total_tasks": 1, "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 20, "splits": { "train": "0:200" }, "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.images.image_0": { "dtype": "video", "shape": [ 540, 720, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.height": 540, "video.width": 720, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.image_1": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.image_2": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 16 ], "names": { "motors": [ "left_arm_0", "left_arm_1", "left_arm_2", "left_arm_3", "left_arm_4", "left_arm_5", "left_arm_6", "right_arm_0", "right_arm_1", "right_arm_2", "right_arm_3", "right_arm_4", "right_arm_5", "right_arm_6", "left_gripper", "right_gripper" ] } }, "action": { "dtype": "float32", "shape": [ 16 ], "names": { "motors": [ "left_arm_0", "left_arm_1", "left_arm_2", "left_arm_3", "left_arm_4", "left_arm_5", "left_arm_6", "right_arm_0", "right_arm_1", "right_arm_2", "right_arm_3", "right_arm_4", "right_arm_5", "right_arm_6", "left_gripper", "right_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 } } }