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COMP
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{
  "codebase_version": "v2.1",
  "robot_type": "multi_robot_dynamic",
  "total_episodes": 1,
  "total_frames": 327,
  "total_tasks": 1,
  "total_videos": 3,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 11.7,
  "splits": {
    "train": "0:1"
  },
  "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": {
    "action": {
      "dtype": "float32",
      "shape": [
        34
      ],
      "names": [
        "left_arm_wrist_2_joint",
        "left_arm_3f_finger_c_joint_1",
        "right_arm_3f_palm_finger_b_joint",
        "left_arm_3f_finger_a_joint_3",
        "right_arm_wrist_3_joint",
        "left_arm_elbow_joint",
        "right_arm_3f_finger_b_joint_2",
        "left_arm_shoulder_lift_joint",
        "right_arm_3f_finger_c_joint_2",
        "left_arm_3f_palm_finger_c_joint",
        "right_arm_3f_finger_a_joint_2",
        "right_arm_3f_finger_b_joint_1",
        "right_arm_3f_finger_b_joint_3",
        "right_arm_3f_finger_a_joint_1",
        "right_arm_3f_finger_c_joint_1",
        "right_arm_3f_finger_a_joint_3",
        "left_arm_3f_finger_b_joint_3",
        "right_arm_shoulder_lift_joint",
        "right_arm_shoulder_pan_joint",
        "right_arm_wrist_2_joint",
        "right_arm_elbow_joint",
        "left_arm_3f_finger_c_joint_3",
        "left_arm_shoulder_pan_joint",
        "left_arm_3f_finger_c_joint_2",
        "right_arm_3f_finger_c_joint_3",
        "right_arm_3f_palm_finger_c_joint",
        "left_arm_3f_finger_b_joint_2",
        "left_arm_3f_finger_b_joint_1",
        "left_arm_3f_palm_finger_b_joint",
        "left_arm_3f_finger_a_joint_2",
        "left_arm_3f_finger_a_joint_1",
        "left_arm_wrist_1_joint",
        "right_arm_wrist_1_joint",
        "left_arm_wrist_3_joint"
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        34
      ],
      "names": [
        "left_arm_wrist_2_joint",
        "left_arm_3f_finger_c_joint_1",
        "right_arm_3f_palm_finger_b_joint",
        "left_arm_3f_finger_a_joint_3",
        "right_arm_wrist_3_joint",
        "left_arm_elbow_joint",
        "right_arm_3f_finger_b_joint_2",
        "left_arm_shoulder_lift_joint",
        "right_arm_3f_finger_c_joint_2",
        "left_arm_3f_palm_finger_c_joint",
        "right_arm_3f_finger_a_joint_2",
        "right_arm_3f_finger_b_joint_1",
        "right_arm_3f_finger_b_joint_3",
        "right_arm_3f_finger_a_joint_1",
        "right_arm_3f_finger_c_joint_1",
        "right_arm_3f_finger_a_joint_3",
        "left_arm_3f_finger_b_joint_3",
        "right_arm_shoulder_lift_joint",
        "right_arm_shoulder_pan_joint",
        "right_arm_wrist_2_joint",
        "right_arm_elbow_joint",
        "left_arm_3f_finger_c_joint_3",
        "left_arm_shoulder_pan_joint",
        "left_arm_3f_finger_c_joint_2",
        "right_arm_3f_finger_c_joint_3",
        "right_arm_3f_palm_finger_c_joint",
        "left_arm_3f_finger_b_joint_2",
        "left_arm_3f_finger_b_joint_1",
        "left_arm_3f_palm_finger_b_joint",
        "left_arm_3f_finger_a_joint_2",
        "left_arm_3f_finger_a_joint_1",
        "left_arm_wrist_1_joint",
        "right_arm_wrist_1_joint",
        "left_arm_wrist_3_joint"
      ]
    },
    "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
    },
    "observation.images.right_arm_camera_sensor_image_compressed": {
      "dtype": "video",
      "shape": [
        720,
        1280,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 720,
        "video.width": 1280,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 11.7,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.left_arm_camera_sensor_image_compressed": {
      "dtype": "video",
      "shape": [
        720,
        1280,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 720,
        "video.width": 1280,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 11.7,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.left_arm_camera_sensor_camera_info": {
      "dtype": "video",
      "shape": [
        720,
        1280,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 720,
        "video.width": 1280,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 11.7,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.right_arm_camera_sensor_camera_info": {
      "dtype": "video",
      "shape": [
        720,
        1280,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 720,
        "video.width": 1280,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 11.7,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.base_camera_sensor_image_compressed": {
      "dtype": "video",
      "shape": [
        720,
        1280,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 720,
        "video.width": 1280,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 11.7,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.base_camera_sensor_camera_info": {
      "dtype": "video",
      "shape": [
        720,
        1280,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 720,
        "video.width": 1280,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 11.7,
        "video.channels": 3,
        "has_audio": false
      }
    }
  }
}