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{
"chunks_size": 1000,
"codebase_version": "v3.0",
"data_files_size_in_mb": 100,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"features": {
"action": {
"dtype": "float32",
"fps": 10.0,
"names": {
"motors": [
"eef_native_delta_x",
"eef_native_delta_y",
"eef_native_delta_z",
"eef_native_delta_rot6d_col0_x",
"eef_native_delta_rot6d_col0_y",
"eef_native_delta_rot6d_col0_z",
"eef_native_delta_rot6d_col1_x",
"eef_native_delta_rot6d_col1_y",
"eef_native_delta_rot6d_col1_z",
"gripper_open_command"
]
},
"shape": [
10
]
},
"episode_index": {
"dtype": "int64",
"names": null,
"shape": [
1
]
},
"frame_index": {
"dtype": "int64",
"names": null,
"shape": [
1
]
},
"index": {
"dtype": "int64",
"names": null,
"shape": [
1
]
},
"observation.images.image": {
"dtype": "video",
"fps": 10.0,
"info": {
"has_audio": false,
"video.channels": 3,
"video.codec": "av1",
"video.fps": 10,
"video.height": 256,
"video.is_depth_map": false,
"video.pix_fmt": "yuv420p",
"video.width": 256
},
"names": [
"height",
"width",
"channel"
],
"shape": [
256,
256,
3
]
},
"observation.images.image2": {
"dtype": "video",
"fps": 10.0,
"info": {
"has_audio": false,
"video.channels": 3,
"video.codec": "av1",
"video.fps": 10,
"video.height": 256,
"video.is_depth_map": false,
"video.pix_fmt": "yuv420p",
"video.width": 256
},
"names": [
"height",
"width",
"channel"
],
"shape": [
256,
256,
3
]
},
"observation.state": {
"dtype": "float32",
"fps": 10.0,
"names": {
"states": [
"eef_x",
"eef_y",
"eef_z",
"rot6d_col0_x",
"rot6d_col0_y",
"rot6d_col0_z",
"rot6d_col1_x",
"rot6d_col1_y",
"rot6d_col1_z",
"gripper_open_scale"
]
},
"shape": [
10
]
},
"task_index": {
"dtype": "int64",
"names": null,
"shape": [
1
]
},
"timestamp": {
"dtype": "float32",
"names": null,
"shape": [
1
]
}
},
"fps": 10.0,
"robot_type": "panda",
"splits": {
"train": "0:1693"
},
"total_episodes": 1693,
"total_frames": 273465,
"total_tasks": 40,
"video_files_size_in_mb": 500,
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
}