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{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
19
],
"names": [
"x",
"y",
"z",
"r11",
"r21",
"r31",
"r12",
"r22",
"r32",
"prev_dx",
"prev_dy",
"prev_dz",
"prev_r11",
"prev_r21",
"prev_r31",
"prev_r12",
"prev_r22",
"prev_r32",
"gripper"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"action": {
"dtype": "float32",
"shape": [
160
],
"names": [
"k1_dx",
"k1_dy",
"k1_dz",
"k1_r11",
"k1_r21",
"k1_r31",
"k1_r12",
"k1_r22",
"k1_r32",
"k1_gripper",
"k2_dx",
"k2_dy",
"k2_dz",
"k2_r11",
"k2_r21",
"k2_r31",
"k2_r12",
"k2_r22",
"k2_r32",
"k2_gripper",
"k3_dx",
"k3_dy",
"k3_dz",
"k3_r11",
"k3_r21",
"k3_r31",
"k3_r12",
"k3_r22",
"k3_r32",
"k3_gripper",
"k4_dx",
"k4_dy",
"k4_dz",
"k4_r11",
"k4_r21",
"k4_r31",
"k4_r12",
"k4_r22",
"k4_r32",
"k4_gripper",
"k5_dx",
"k5_dy",
"k5_dz",
"k5_r11",
"k5_r21",
"k5_r31",
"k5_r12",
"k5_r22",
"k5_r32",
"k5_gripper",
"k6_dx",
"k6_dy",
"k6_dz",
"k6_r11",
"k6_r21",
"k6_r31",
"k6_r12",
"k6_r22",
"k6_r32",
"k6_gripper",
"k7_dx",
"k7_dy",
"k7_dz",
"k7_r11",
"k7_r21",
"k7_r31",
"k7_r12",
"k7_r22",
"k7_r32",
"k7_gripper",
"k8_dx",
"k8_dy",
"k8_dz",
"k8_r11",
"k8_r21",
"k8_r31",
"k8_r12",
"k8_r22",
"k8_r32",
"k8_gripper",
"k9_dx",
"k9_dy",
"k9_dz",
"k9_r11",
"k9_r21",
"k9_r31",
"k9_r12",
"k9_r22",
"k9_r32",
"k9_gripper",
"k10_dx",
"k10_dy",
"k10_dz",
"k10_r11",
"k10_r21",
"k10_r31",
"k10_r12",
"k10_r22",
"k10_r32",
"k10_gripper",
"k11_dx",
"k11_dy",
"k11_dz",
"k11_r11",
"k11_r21",
"k11_r31",
"k11_r12",
"k11_r22",
"k11_r32",
"k11_gripper",
"k12_dx",
"k12_dy",
"k12_dz",
"k12_r11",
"k12_r21",
"k12_r31",
"k12_r12",
"k12_r22",
"k12_r32",
"k12_gripper",
"k13_dx",
"k13_dy",
"k13_dz",
"k13_r11",
"k13_r21",
"k13_r31",
"k13_r12",
"k13_r22",
"k13_r32",
"k13_gripper",
"k14_dx",
"k14_dy",
"k14_dz",
"k14_r11",
"k14_r21",
"k14_r31",
"k14_r12",
"k14_r22",
"k14_r32",
"k14_gripper",
"k15_dx",
"k15_dy",
"k15_dz",
"k15_r11",
"k15_r21",
"k15_r31",
"k15_r12",
"k15_r22",
"k15_r32",
"k15_gripper",
"k16_dx",
"k16_dy",
"k16_dz",
"k16_r11",
"k16_r21",
"k16_r31",
"k16_r12",
"k16_r22",
"k16_r32",
"k16_gripper"
]
},
"is_first": {
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"shape": [
1
],
"names": null
},
"is_last": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"is_terminal": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.ee_pose": {
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"shape": [
10
],
"names": [
"x",
"y",
"z",
"r11",
"r21",
"r31",
"r12",
"r22",
"r32",
"gripper"
]
},
"action.ee_pose": {
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"shape": [
10
],
"names": [
"x",
"y",
"z",
"r11",
"r21",
"r31",
"r12",
"r22",
"r32",
"gripper"
]
},
"observation.ee_state": {
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"shape": [
19
],
"names": [
"x",
"y",
"z",
"r11",
"r21",
"r31",
"r12",
"r22",
"r32",
"prev_dx",
"prev_dy",
"prev_dz",
"prev_r11",
"prev_r21",
"prev_r31",
"prev_r12",
"prev_r22",
"prev_r32",
"gripper"
]
},
"ee.is_moving": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"observation.joints": {
"dtype": "float32",
"shape": [
7
],
"names": [
"position.vertical",
"position.j1",
"position.j2",
"position.j3",
"position.j4",
"position.j5",
"position.right_finger_joint"
]
},
"action.joints": {
"dtype": "float32",
"shape": [
7
],
"names": [
"position.vertical",
"position.j1",
"position.j2",
"position.j3",
"position.j4",
"position.j5",
"position.right_finger_joint"
]
}
},
"total_episodes": 310,
"total_frames": 199843,
"total_tasks": 3,
"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",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "arlo",
"splits": {
"train": "0:310"
}
}