{ "codebase_version": "v2.0", "robot_type": "google_robot", "total_episodes": 87212, "total_frames": 3786400, "total_tasks": 599, "total_videos": 87212, "total_chunks": 88, "chunks_size": 1000, "fps": 3, "splits": { "train": "0:87212" }, "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": { "dtype": "video", "shape": [ 256, 320, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 3.0, "video.height": 256, "video.width": 320, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 8 ], "names": { "motors": [ "x", "y", "z", "rx", "ry", "rz", "rw", "gripper" ] } }, "action": { "dtype": "float32", "shape": [ 7 ], "names": { "motors": [ "x", "y", "z", "roll", "pitch", "yaw", "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 } } }