{ "codebase_version": "v3.0", "robot_type": "viser_follower", "total_episodes": 5, "total_frames": 643, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 15, "splits": { "train": "0:5" }, "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": { "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "idx13_left_arm_joint1.pos", "idx14_left_arm_joint2.pos", "idx15_left_arm_joint3.pos", "idx16_left_arm_joint4.pos", "idx17_left_arm_joint5.pos", "idx18_left_arm_joint6.pos", "idx19_left_arm_joint7.pos", "idx20_right_arm_joint1.pos", "idx21_right_arm_joint2.pos", "idx22_right_arm_joint3.pos", "idx23_right_arm_joint4.pos", "idx24_right_arm_joint5.pos", "idx25_right_arm_joint6.pos", "idx26_right_arm_joint7.pos", "left_thumb_0.pos", "left_thumb_1.pos", "left_index.pos", "left_middle.pos", "left_ring.pos", "left_pinky.pos", "right_thumb_0.pos", "right_thumb_1.pos", "right_index.pos", "right_middle.pos", "right_ring.pos", "right_pinky.pos" ] }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "idx13_left_arm_joint1.pos", "idx14_left_arm_joint2.pos", "idx15_left_arm_joint3.pos", "idx16_left_arm_joint4.pos", "idx17_left_arm_joint5.pos", "idx18_left_arm_joint6.pos", "idx19_left_arm_joint7.pos", "idx20_right_arm_joint1.pos", "idx21_right_arm_joint2.pos", "idx22_right_arm_joint3.pos", "idx23_right_arm_joint4.pos", "idx24_right_arm_joint5.pos", "idx25_right_arm_joint6.pos", "idx26_right_arm_joint7.pos", "left_thumb_0.pos", "left_thumb_1.pos", "left_index.pos", "left_middle.pos", "left_ring.pos", "left_pinky.pos", "right_thumb_0.pos", "right_thumb_1.pos", "right_index.pos", "right_middle.pos", "right_ring.pos", "right_pinky.pos" ] }, "observation.images.front": { "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": 15, "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 } } }