{ "codebase_version": "v2.0", "robot_type": "panda", "total_episodes": 1000, "total_frames": 107420, "total_tasks": 1, "total_videos": 2000, "total_chunks": 1, "chunks_size": 1000, "fps": 10, "splits": { "train": "0:1000" }, "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", "video_keys": [ "observation.images.base_camera", "observation.images.hand_camera" ], "features": { "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "action": { "dtype": "float32", "shape": [ 8 ], "names": { "motors": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper" ] } }, "next.done": { "dtype": "bool", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "observation.state": { "dtype": "float32", "shape": [ 70 ], "names": [ "obj_table_workspace_pos_x", "obj_table_workspace_pos_y", "obj_table_workspace_pos_z", "obj_table_workspace_quat_x", "obj_table_workspace_quat_y", "obj_table_workspace_quat_z", "obj_table_workspace_quat_w", "obj_table_workspace_vel_x", "obj_table_workspace_vel_y", "obj_table_workspace_vel_z", "obj_table_workspace_ang_vel_x", "obj_table_workspace_ang_vel_y", "obj_table_workspace_ang_vel_z", "obj_cubeA_pos_x", "obj_cubeA_pos_y", "obj_cubeA_pos_z", "obj_cubeA_quat_x", "obj_cubeA_quat_y", "obj_cubeA_quat_z", "obj_cubeA_quat_w", "obj_cubeA_vel_x", "obj_cubeA_vel_y", "obj_cubeA_vel_z", "obj_cubeA_ang_vel_x", "obj_cubeA_ang_vel_y", "obj_cubeA_ang_vel_z", "obj_cubeB_pos_x", "obj_cubeB_pos_y", "obj_cubeB_pos_z", "obj_cubeB_quat_x", "obj_cubeB_quat_y", "obj_cubeB_quat_z", "obj_cubeB_quat_w", "obj_cubeB_vel_x", "obj_cubeB_vel_y", "obj_cubeB_vel_z", "obj_cubeB_ang_vel_x", "obj_cubeB_ang_vel_y", "obj_cubeB_ang_vel_z", "robot_root_pos_x", "robot_root_pos_y", "robot_root_pos_z", "robot_root_quat_x", "robot_root_quat_y", "robot_root_quat_z", "robot_root_quat_w", "robot_root_vel_x", "robot_root_vel_y", "robot_root_vel_z", "robot_root_ang_vel_x", "robot_root_ang_vel_y", "robot_root_ang_vel_z", "robot_panda_joint1_pos", "robot_panda_joint2_pos", "robot_panda_joint3_pos", "robot_panda_joint4_pos", "robot_panda_joint5_pos", "robot_panda_joint6_pos", "robot_panda_joint7_pos", "robot_gripper_finger_1_pos", "robot_gripper_finger_2_pos", "robot_panda_joint1_vel", "robot_panda_joint2_vel", "robot_panda_joint3_vel", "robot_panda_joint4_vel", "robot_panda_joint5_vel", "robot_panda_joint6_vel", "robot_panda_joint7_vel", "robot_gripper_finger_1_vel", "robot_gripper_finger_2_vel" ] }, "terminated": { "dtype": "bool", "shape": [ 1 ], "names": null }, "truncated": { "dtype": "bool", "shape": [ 1 ], "names": null }, "success": { "dtype": "bool", "shape": [ 1 ], "names": null }, "reward": { "dtype": "float32", "shape": [ 1 ], "names": null }, "observation.images.base_camera": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "video_info": { "video.fps": 10.0, "video.codec": "libx264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.hand_camera": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "video_info": { "video.fps": 10.0, "video.codec": "libx264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } } }, "encoding": { "pil_kwargs": { "format": "png", "quality": 100 }, "video_kwargs": { "vcodec": "libx264", "pix_fmt": "yuv420p", "g": 2, "crf": 18 } } }