{ "codebase_version": "v3.0", "robot_type": "ur5e", "total_episodes": 6, "total_frames": 5283, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:6" }, "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": { "observation.state": { "dtype": "float32", "shape": [ 21 ], "names": [ "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint", "gripper/left_finger_joint" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint", "gripper/left_finger_joint" ] }, "observation.images.cam_center": { "dtype": "video", "shape": [ 1024, 1152, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1024, "video.width": 1152, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left": { "dtype": "video", "shape": [ 1024, 1152, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1024, "video.width": 1152, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right": { "dtype": "video", "shape": [ 1024, 1152, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1024, "video.width": 1152, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.wrench": { "dtype": "float32", "shape": [ 6 ], "names": [ "fx", "fy", "fz", "tx", "ty", "tz" ] }, "observation.tcp_pose": { "dtype": "float32", "shape": [ 7 ], "names": [ "x", "y", "z", "qx", "qy", "qz", "qw" ] }, "observation.tcp_velocity": { "dtype": "float32", "shape": [ 6 ], "names": [ "vx", "vy", "vz", "wx", "wy", "wz" ] }, "observation.tcp_error": { "dtype": "float32", "shape": [ 6 ], "names": [ "ex", "ey", "ez", "erx", "ery", "erz" ] }, "observation.reference_tcp_pose": { "dtype": "float32", "shape": [ 7 ], "names": [ "x", "y", "z", "qx", "qy", "qz", "qw" ] }, "observation.target_mode": { "dtype": "float32", "shape": [ 1 ], "names": [ "mode" ] }, "observation.plug_pose": { "dtype": "float32", "shape": [ 7 ], "names": [ "x", "y", "z", "qx", "qy", "qz", "qw" ] }, "next.done": { "dtype": "bool", "shape": [ 1 ], "names": null }, "next.success": { "dtype": "bool", "shape": [ 1 ], "names": null }, "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 } } }