{ "codebase_version": "v3.0", "robot_type": null, "total_episodes": 200, "total_frames": 20000, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 10, "splits": { "train": "0:200" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "features": { "observation.image": { "dtype": "image", "shape": [ 128, 128, 3 ], "names": [ "height", "width", "channels" ] }, "observation.state": { "dtype": "float32", "shape": [ 6 ], "names": [ "picker1_x", "picker1_y", "picker1_z", "picker2_x", "picker2_y", "picker2_z" ] }, "observation.environment_state": { "dtype": "float32", "shape": [ 12 ], "names": [ "kp1_x", "kp1_y", "kp1_z", "kp2_x", "kp2_y", "kp2_z", "kp3_x", "kp3_y", "kp3_z", "kp4_x", "kp4_y", "kp4_z" ] }, "action": { "dtype": "float32", "shape": [ 8 ], "names": [ "a0", "a1", "a2", "a3", "a4", "a5", "a6", "a7" ] }, "next.reward": { "dtype": "float32", "shape": [ 1 ], "names": null }, "next.done": { "dtype": "bool", "shape": [ 1 ], "names": null }, "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 } }, "metadata": { "env_kwargs": { "observation_mode": "key_point", "action_mode": "picker", "num_picker": 2, "render": true, "headless": 1, "horizon": 100, "action_repeat": 8, "render_mode": "cloth", "num_variations": 25, "use_cached_states": true, "deterministic": false, "save_cached_states": false, "ir_reward_weight": 0 } } }