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{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 66480,
"total_frames": 7312800,
"total_tasks": 62883,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:59880",
"val": "59880:66480"
},
"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.images.agentview": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"finger_1",
"finger_2"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"cmd_joint_1",
"cmd_joint_2",
"cmd_joint_3",
"cmd_joint_4",
"cmd_joint_5",
"cmd_joint_6",
"cmd_joint_7"
]
},
"action.demo": {
"dtype": "float32",
"shape": [
7
],
"names": [
"cmd_joint_1",
"cmd_joint_2",
"cmd_joint_3",
"cmd_joint_4",
"cmd_joint_5",
"cmd_joint_6",
"cmd_joint_7"
]
},
"fault": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"gripper"
]
},
"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
}
}
}