{ "codebase_version": "v3.0", "fps": 30, "features": { "observation.state": { "dtype": "float32", "shape": [ 12 ], "names": [ "shoulder_pan_joint.pos", "shoulder_lift_joint.pos", "elbow_joint.pos", "wrist_1_joint.pos", "wrist_2_joint.pos", "wrist_3_joint.pos", "finger_joint.pos", "left_inner_finger_joint.pos", "right_inner_finger_joint.pos", "left_inner_finger_knuckle_joint.pos", "right_inner_finger_knuckle_joint.pos", "right_outer_knuckle_joint.pos" ] }, "action": { "dtype": "float32", "shape": [ 12 ], "names": [ "shoulder_pan_joint.pos", "shoulder_lift_joint.pos", "elbow_joint.pos", "wrist_1_joint.pos", "wrist_2_joint.pos", "wrist_3_joint.pos", "finger_joint.pos", "left_inner_finger_joint.pos", "right_inner_finger_joint.pos", "left_inner_finger_knuckle_joint.pos", "right_inner_finger_knuckle_joint.pos", "right_outer_knuckle_joint.pos" ] }, "observation.images.side": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "video_info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30.0, "video.channels": 3, "has_audio": false }, "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "observation.images.wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "video_info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30.0, "video.channels": 3, "has_audio": false }, "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "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": 30, "total_frames": 13271, "total_tasks": 1, "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": "ur3_robotiq_2f85", "splits": { "train": "0:30" } }