{ "codebase_version": "v2.0", "robot_type": "aloha-stationary", "total_episodes": 51, "total_frames": 51, "total_tasks": 1, "total_videos": 153, "total_chunks": 1, "chunks_size": 1000, "fps": 50, "splits": { "train": "0:51" }, "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": { "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "action_0", "action_1", "action_2", "action_3", "action_4", "action_5", "action_6", "action_7", "action_8", "action_9", "action_10", "action_11", "action_12", "action_13" ] }, "observations.effort": { "dtype": "float32", "shape": [ 14 ], "names": [ "effort_0", "effort_1", "effort_2", "effort_3", "effort_4", "effort_5", "effort_6", "effort_7", "effort_8", "effort_9", "effort_10", "effort_11", "effort_12", "effort_13" ] }, "observations.images.cam_high": { "dtype": "video", "shape": [ 3, 480, 848 ], "names": [ "channel", "height", "width" ], "info": { "video.fps": 50.0, "video.height": 480, "video.width": 848, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observations.images.cam_left_wrist": { "dtype": "video", "shape": [ 3, 480, 848 ], "names": [ "channel", "height", "width" ], "info": { "video.fps": 50.0, "video.height": 480, "video.width": 848, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observations.images.cam_right_wrist": { "dtype": "video", "shape": [ 3, 480, 848 ], "names": [ "channel", "height", "width" ], "info": { "video.fps": 50.0, "video.height": 480, "video.width": 848, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observations.qpos": { "dtype": "float32", "shape": [ 14 ], "names": [ "qpos_0", "qpos_1", "qpos_2", "qpos_3", "qpos_4", "qpos_5", "qpos_6", "qpos_7", "qpos_8", "qpos_9", "qpos_10", "qpos_11", "qpos_12", "qpos_13" ] }, "observations.qvel": { "dtype": "float32", "shape": [ 14 ], "names": [ "qvel_0", "qvel_1", "qvel_2", "qvel_3", "qvel_4", "qvel_5", "qvel_6", "qvel_7", "qvel_8", "qvel_9", "qvel_10", "qvel_11", "qvel_12", "qvel_13" ] }, "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 } } }