{ "codebase_version": "v2.1", "robot_type": "yam_bimanual", "total_episodes": 50, "total_frames": 85602, "total_tasks": 2, "total_videos": 150, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:50" }, "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": { "observation.state": { "dtype": "float32", "shape": [ 32 ], "names": [ [ "left_pos_x", "left_pos_y", "left_pos_z", "left_rot6d_0", "left_rot6d_1", "left_rot6d_2", "left_rot6d_3", "left_rot6d_4", "left_rot6d_5", "right_pos_x", "right_pos_y", "right_pos_z", "right_rot6d_0", "right_rot6d_1", "right_rot6d_2", "right_rot6d_3", "right_rot6d_4", "right_rot6d_5", "left_gripper", "right_gripper", "left_joint_0", "left_joint_1", "left_joint_2", "left_joint_3", "left_joint_4", "left_joint_5", "right_joint_0", "right_joint_1", "right_joint_2", "right_joint_3", "right_joint_4", "right_joint_5" ] ] }, "action": { "dtype": "float32", "shape": [ 32 ], "names": [ [ "left_pos_x", "left_pos_y", "left_pos_z", "left_rot6d_0", "left_rot6d_1", "left_rot6d_2", "left_rot6d_3", "left_rot6d_4", "left_rot6d_5", "right_pos_x", "right_pos_y", "right_pos_z", "right_rot6d_0", "right_rot6d_1", "right_rot6d_2", "right_rot6d_3", "right_rot6d_4", "right_rot6d_5", "left_gripper", "right_gripper", "left_joint_0", "left_joint_1", "left_joint_2", "left_joint_3", "left_joint_4", "left_joint_5", "right_joint_0", "right_joint_1", "right_joint_2", "right_joint_3", "right_joint_4", "right_joint_5" ] ] }, "observation.images.head": { "dtype": "video", "shape": [ 3, 360, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.left_wrist": { "dtype": "video", "shape": [ 3, 360, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.right_wrist": { "dtype": "video", "shape": [ 3, 360, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "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.depth_ffv1.head": { "dtype": "depth_video", "shape": [ 360, 640, 1 ], "names": [ "height", "width", "depth" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "ffv1", "video.pix_fmt": "gray16le", "video.is_depth_map": true, "video.fps": 30, "video.channels": 1, "has_audio": false, "depth_unit": "mm", "depth_dtype": "uint16", "depth_encoder": "ffv1", "depth_ext": ".mkv", "depth_packing": "gray16le" } }, "observation.depth_ffv1.left_wrist": { "dtype": "depth_video", "shape": [ 360, 640, 1 ], "names": [ "height", "width", "depth" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "ffv1", "video.pix_fmt": "gray16le", "video.is_depth_map": true, "video.fps": 30, "video.channels": 1, "has_audio": false, "depth_unit": "mm", "depth_dtype": "uint16", "depth_encoder": "ffv1", "depth_ext": ".mkv", "depth_packing": "gray16le" } }, "observation.depth_ffv1.right_wrist": { "dtype": "depth_video", "shape": [ 360, 640, 1 ], "names": [ "height", "width", "depth" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "ffv1", "video.pix_fmt": "gray16le", "video.is_depth_map": true, "video.fps": 30, "video.channels": 1, "has_audio": false, "depth_unit": "mm", "depth_dtype": "uint16", "depth_encoder": "ffv1", "depth_ext": ".mkv", "depth_packing": "gray16le" } } } }