{ "codebase_version": "v2.1", "robot_type": "unitree", "total_episodes": 1, "total_frames": 120, "total_tasks": 1, "total_videos": 0, "total_chunks": 1, "chunks_size": 1000, "fps": 60, "splits": { "train": "0:1" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": null, "features": { "observation.images.color_0": { "dtype": "image", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, "observation.images.color_1": { "dtype": "image", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, "observation.images.color_2": { "dtype": "image", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, "observation.images.color_3": { "dtype": "image", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, "observation.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "left_arm_joint_0", "left_arm_joint_1", "left_arm_joint_2", "left_arm_joint_3", "left_arm_joint_4", "left_arm_joint_5", "left_arm_joint_6", "left_ee_joint_0", "left_ee_joint_1", "left_ee_joint_2", "left_ee_joint_3", "left_ee_joint_4", "left_ee_joint_5", "left_ee_joint_6", "right_arm_joint_0", "right_arm_joint_1", "right_arm_joint_2", "right_arm_joint_3", "right_arm_joint_4", "right_arm_joint_5", "right_arm_joint_6", "right_ee_joint_0", "right_ee_joint_1", "right_ee_joint_2", "right_ee_joint_3", "right_ee_joint_4", "right_ee_joint_5", "right_ee_joint_6" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "left_arm_action_0", "left_arm_action_1", "left_arm_action_2", "left_arm_action_3", "left_arm_action_4", "left_arm_action_5", "left_arm_action_6", "left_ee_action_0", "left_ee_action_1", "left_ee_action_2", "left_ee_action_3", "left_ee_action_4", "left_ee_action_5", "left_ee_action_6", "right_arm_action_0", "right_arm_action_1", "right_arm_action_2", "right_arm_action_3", "right_arm_action_4", "right_arm_action_5", "right_arm_action_6", "right_ee_action_0", "right_ee_action_1", "right_ee_action_2", "right_ee_action_3", "right_ee_action_4", "right_ee_action_5", "right_ee_action_6" ] }, "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 } } }