{ "codebase_version": "v3.0", "fps": 30, "features": { "action": { "dtype": "float32", "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "shape": [ 6 ] }, "observation.state": { "dtype": "float32", "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "shape": [ 6 ] }, "observation.images.wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 30, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": { "bf": 0 } } }, "observation.images.middle": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 30, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": { "bf": 0 } } }, "observation.images.above": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 30, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": { "bf": 0 } } }, "observation.images.right": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 30, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": { "bf": 0 } } }, "observation.images.left": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 30, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": { "bf": 0 } } }, "observation.motor_currents": { "dtype": "int32", "names": [ "shoulder_pan.current", "shoulder_lift.current", "elbow_flex.current", "wrist_flex.current", "wrist_roll.current", "gripper.current" ], "shape": [ 6 ] }, "observation.motor_velocities": { "dtype": "int32", "names": [ "shoulder_pan.velocity", "shoulder_lift.velocity", "elbow_flex.velocity", "wrist_flex.velocity", "wrist_roll.velocity", "gripper.velocity" ], "shape": [ 6 ] }, "observation.sensor_timestamps": { "dtype": "float64", "names": [ "motor_positions.perf_counter_s", "motor_currents.perf_counter_s", "motor_velocities.perf_counter_s", "camera.wrist.perf_counter_s", "camera.middle.perf_counter_s", "camera.above.perf_counter_s", "camera.right.perf_counter_s", "camera.left.perf_counter_s" ], "shape": [ 8 ] }, "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 } }, "total_episodes": 100, "total_frames": 58329, "total_tasks": 4, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "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", "robot_type": "so_follower", "splits": { "train": "0:100" } }