| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "isaaclab_ur5", | |
| "total_episodes": 4, | |
| "total_frames": 2303, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:4" | |
| }, | |
| "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": { | |
| "timestamp": { | |
| "dtype": "float32", | |
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| ], | |
| "names": null | |
| }, | |
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| "episode_index": { | |
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| }, | |
| "index": { | |
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| "names": null | |
| }, | |
| "task_index": { | |
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| "names": null | |
| }, | |
| "observation.images.cam_side": { | |
| "dtype": "video", | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "libx264", | |
| "video.pix_fmt": "yuv420p" | |
| } | |
| }, | |
| "observation.images.cam_left": { | |
| "dtype": "video", | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "libx264", | |
| "video.pix_fmt": "yuv420p" | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "names": [ | |
| "shoulder_pan_joint", | |
| "shoulder_lift_joint", | |
| "elbow_joint", | |
| "wrist_1_joint", | |
| "wrist_2_joint", | |
| "wrist_3_joint", | |
| "finger_joint" | |
| ], | |
| "shape": [ | |
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| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "names": [ | |
| "shoulder_pan_joint", | |
| "shoulder_lift_joint", | |
| "elbow_joint", | |
| "wrist_1_joint", | |
| "wrist_2_joint", | |
| "wrist_3_joint", | |
| "finger_joint" | |
| ], | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.cartesian_state": { | |
| "dtype": "float32", | |
| "names": [ | |
| "eef_x", | |
| "eef_y", | |
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| "eef_qx", | |
| "eef_qy", | |
| "eef_qz", | |
| "eef_qw" | |
| ], | |
| "shape": [ | |
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| ] | |
| } | |
| }, | |
| "tags": [ | |
| "isaaclab_ur5", | |
| "robotis", | |
| "env:UR5-Wire-Reach-v2", | |
| "isaaclab:07619e5b", | |
| "host:robotics-server-2", | |
| "date:2026-04-09", | |
| "platform:x86_64" | |
| ] | |
| } |