{ "codebase_version": "v3.0", "fps": 50, "robot_type": "macbook-air-von-johannes-2", "total_episodes": 1, "total_frames": 1123, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "features": { "observation.state": { "dtype": "float32", "shape": [ 56 ], "names": [ "hip_central_rotation", "waist_upperbody_yaw", "leg_flexion_l", "leg_flexion_r", "leg_abduction_l", "leg_abduction_r", "hip_yaw_l", "hip_yaw_r", "knee_l", "knee_r", "shoulder_flexion_l", "shoulder_flexion_r", "shoulder_abduction_l", "shoulder_abduction_r", "shoulder_rotation_l", "shoulder_rotation_r", "elbow_flexion_l", "elbow_flexion_r", "foot_pitch_l", "foot_pitch_r", "foot_roll_l", "foot_roll_r", "forearm_pronation_l", "thumb_cmc_flexion_l", "thumb_cmc_abduction_l", "thumb_mcp_flexion_l", "thumb_ip_flexion_l", "index_mcp_abduction_l", "index_mcp_flexion_l", "index_pip_flexion_l", "middle_mcp_radial_deviation_l", "middle_mcp_flexion_l", "middle_pip_flexion_l", "ring_mcp_abduction_l", "ring_mcp_flexion_l", "ring_pip_flexion_l", "little_mcp_abduction_l", "little_mcp_flexion_l", "little_pip_flexion_l", "forearm_pronation_r", "thumb_cmc_flexion_r", "thumb_cmc_abduction_r", "thumb_mcp_flexion_r", "thumb_ip_flexion_r", "index_mcp_abduction_r", "index_mcp_flexion_r", "index_pip_flexion_r", "middle_mcp_radial_deviation_r", "middle_mcp_flexion_r", "middle_pip_flexion_r", "ring_mcp_abduction_r", "ring_mcp_flexion_r", "ring_pip_flexion_r", "little_mcp_abduction_r", "little_mcp_flexion_r", "little_pip_flexion_r" ] }, "action": { "dtype": "float32", "shape": [ 56 ], "names": [ "hip_central_rotation", "waist_upperbody_yaw", "leg_flexion_l", "leg_flexion_r", "leg_abduction_l", "leg_abduction_r", "hip_yaw_l", "hip_yaw_r", "knee_l", "knee_r", "shoulder_flexion_l", "shoulder_flexion_r", "shoulder_abduction_l", "shoulder_abduction_r", "shoulder_rotation_l", "shoulder_rotation_r", "elbow_flexion_l", "elbow_flexion_r", "foot_pitch_l", "foot_pitch_r", "foot_roll_l", "foot_roll_r", "forearm_pronation_l", "thumb_cmc_flexion_l", "thumb_cmc_abduction_l", "thumb_mcp_flexion_l", "thumb_ip_flexion_l", "index_mcp_abduction_l", "index_mcp_flexion_l", "index_pip_flexion_l", "middle_mcp_radial_deviation_l", "middle_mcp_flexion_l", "middle_pip_flexion_l", "ring_mcp_abduction_l", "ring_mcp_flexion_l", "ring_pip_flexion_l", "little_mcp_abduction_l", "little_mcp_flexion_l", "little_pip_flexion_l", "forearm_pronation_r", "thumb_cmc_flexion_r", "thumb_cmc_abduction_r", "thumb_mcp_flexion_r", "thumb_ip_flexion_r", "index_mcp_abduction_r", "index_mcp_flexion_r", "index_pip_flexion_r", "middle_mcp_radial_deviation_r", "middle_mcp_flexion_r", "middle_pip_flexion_r", "ring_mcp_abduction_r", "ring_mcp_flexion_r", "ring_pip_flexion_r", "little_mcp_abduction_r", "little_mcp_flexion_r", "little_pip_flexion_r" ] }, "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 } } }