{ "codebase_version": "v2.1", "robot_type": "ffw_bg2_rev4_eef_pose", "total_episodes": 32, "total_frames": 8571, "total_tasks": 1, "total_videos": 64, "total_chunks": 1, "chunks_size": 1000, "fps": 15, "splits": { "train": "0:32" }, "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.state": { "dtype": "float32", "shape": [ 16 ], "names": [ "eef_l_x", "eef_l_y", "eef_l_z", "eef_l_qx", "eef_l_qy", "eef_l_qz", "eef_l_qw", "eef_r_x", "eef_r_y", "eef_r_z", "eef_r_qx", "eef_r_qy", "eef_r_qz", "eef_r_qw", "gripper_l_joint1", "gripper_r_joint1" ] }, "action": { "dtype": "float32", "shape": [ 16 ], "names": [ "eef_l_x", "eef_l_y", "eef_l_z", "eef_l_qx", "eef_l_qy", "eef_l_qz", "eef_l_qw", "eef_r_x", "eef_r_y", "eef_r_z", "eef_r_qx", "eef_r_qy", "eef_r_qz", "eef_r_qw", "gripper_l_joint1", "gripper_r_joint1" ] }, "observation.images.rgb.cam_left_head": { "dtype": "video", "shape": [ 3, 376, 672 ], "names": [ "channels", "height", "width" ], "info": { "video.fps": 15.0, "video.height": 376, "video.width": 672, "video.channels": 3, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.rgb.cam_right_head": { "dtype": "video", "shape": [ 3, 376, 672 ], "names": [ "channels", "height", "width" ], "info": { "video.fps": 15.0, "video.height": 376, "video.width": 672, "video.channels": 3, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "timestamp": { "dtype": "float64", "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 }, "subtask_index": { "dtype": "int64", "shape": [ 1 ], "names": null } }, "annotation_path": "annotations/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.json" }