{ "codebase_version": "v2.1", "robot_type": "g1", "total_episodes": 119, "total_frames": 310990, "total_tasks": 1, "total_videos": 119, "total_chunks": 1, "chunks_size": 1000, "fps": 50, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/egocentric/episode_{episode_index:06d}.mp4", "features": { "observation.images.egocentric": { "dtype": "video", "shape": [ 360, 640, 3 ], "names": [ "height", "width", "channel" ], "video_info": { "video.fps": 50, "video.codec": "h264", "video.pix_fmt": "yuv420p" } }, "observation.hand_joints": { "dtype": "float32", "shape": [ 14 ], "names": [ "hand_joints" ] }, "observation.arm_joints": { "dtype": "float32", "shape": [ 14 ], "names": [ "arm_joints" ] }, "observation.leg_joints": { "dtype": "float32", "shape": [ 15 ], "names": [ "leg_joints" ] }, "observation.prev_torso_rpy": { "dtype": "float32", "shape": [ 3 ], "names": [ "prev_roll", "prev_pitch", "prev_yaw" ] }, "observation.prev_height": { "dtype": "float32", "shape": [ 1 ], "names": [ "prev_height" ] }, "states": { "dtype": "float32", "shape": [ -1 ] }, "action": { "dtype": "float32", "shape": [ -1 ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ] }, "frame_index": { "dtype": "int64", "shape": [ 1 ] }, "episode_index": { "dtype": "int64", "shape": [ 1 ] }, "index": { "dtype": "int64", "shape": [ 1 ] }, "next.done": { "dtype": "bool", "shape": [ 1 ] }, "task_index": { "dtype": "int64", "shape": [ 1 ] } } }