{ "codebase_version": "v3.0", "robot_type": "blueberry_ros", "total_episodes": 9, "total_frames": 6057, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 15, "splits": { "train": "0:9" }, "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": [ "l_arm_linear.x", "l_arm_linear.y", "l_arm_linear.z", "l_arm_angular.x", "l_arm_angular.y", "l_arm_angular.z", "l_hand_pinky", "l_hand_ring", "l_hand_middle", "l_hand_index", "l_hand_thumb1", "l_hand_thumb2", "r_arm_linear.x", "r_arm_linear.y", "r_arm_linear.z", "r_arm_angular.x", "r_arm_angular.y", "r_arm_angular.z", "r_hand_pinky", "r_hand_ring", "r_hand_middle", "r_hand_index", "r_hand_thumb1", "r_hand_thumb2", "base_joy.x", "base_joy.y" ] }, "observation.state": { "dtype": "float32", "shape": [ 52 ], "names": [ "l_arm_j1.pos", "l_arm_j2.pos", "l_arm_j3.pos", "l_arm_j4.pos", "l_arm_j5.pos", "l_arm_j6.pos", "l_arm_j7.pos", "l_hand_pinky.pos", "l_hand_ring.pos", "l_hand_middle.pos", "l_hand_index.pos", "l_hand_thumb1.pos", "l_hand_thumb2.pos", "r_arm_j1.pos", "r_arm_j2.pos", "r_arm_j3.pos", "r_arm_j4.pos", "r_arm_j5.pos", "r_arm_j6.pos", "r_arm_j7.pos", "r_hand_pinky.pos", "r_hand_ring.pos", "r_hand_middle.pos", "r_hand_index.pos", "r_hand_thumb1.pos", "r_hand_thumb2.pos", "l_arm_j1.effort", "l_arm_j2.effort", "l_arm_j3.effort", "l_arm_j4.effort", "l_arm_j5.effort", "l_arm_j6.effort", "l_arm_j7.effort", "l_hand_pinky.effort", "l_hand_ring.effort", "l_hand_middle.effort", "l_hand_index.effort", "l_hand_thumb1.effort", "l_hand_thumb2.effort", "r_arm_j1.effort", "r_arm_j2.effort", "r_arm_j3.effort", "r_arm_j4.effort", "r_arm_j5.effort", "r_arm_j6.effort", "r_arm_j7.effort", "r_hand_pinky.effort", "r_hand_ring.effort", "r_hand_middle.effort", "r_hand_index.effort", "r_hand_thumb1.effort", "r_hand_thumb2.effort" ] }, "observation.images.left": { "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 } }, "observation.images.right": { "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 } }, "observation.images.user": { "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 } } }