| { |
| "codebase_version": "v3.0", |
| "robot_type": "ur5", |
| "total_episodes": 4, |
| "total_frames": 2401, |
| "total_tasks": 2, |
| "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": { |
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| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
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| ], |
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| }, |
| "episode_index": { |
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| }, |
| "index": { |
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| }, |
| "task_index": { |
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| ], |
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| }, |
| "observation.images.cam_wrist": { |
| "dtype": "video", |
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| "width", |
| "channels" |
| ], |
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| 640, |
| 3 |
| ], |
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| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p" |
| } |
| }, |
| "observation.images.cam_side": { |
| "dtype": "video", |
| "names": [ |
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| "width", |
| "channels" |
| ], |
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| 848, |
| 3 |
| ], |
| "info": { |
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| "video.width": 848, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p" |
| } |
| }, |
| "observation.images.cam_wrist_depth": { |
| "dtype": "video", |
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| "width", |
| "channels" |
| ], |
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| 480, |
| 640, |
| 3 |
| ], |
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| "video.width": 640, |
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| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p" |
| } |
| }, |
| "observation.images.cam_side_depth": { |
| "dtype": "video", |
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| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 480, |
| 848, |
| 3 |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 848, |
| "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", |
| "robotiq_85_left_knuckle_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", |
| "robotiq_85_left_knuckle_joint" |
| ], |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.wrench": { |
| "dtype": "float32", |
| "names": [ |
| "fx", |
| "fy", |
| "fz", |
| "tx", |
| "ty", |
| "tz" |
| ], |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "tags": [ |
| "ur5", |
| "robotis", |
| "host:robotics-server-3", |
| "date:2026-07-07", |
| "platform:x86_64" |
| ] |
| } |
