{ "codebase_version": "v3.0", "robot_type": "bi_arx5_follower", "total_episodes": 2, "total_frames": 1517, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:2" }, "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": [ 56 ], "names": [ "left_eef.gripper", "left_eef.pitch", "left_eef.roll", "left_eef.x", "left_eef.y", "left_eef.yaw", "left_eef.z", "left_elbow_flex.effort", "left_elbow_flex.pos", "left_elbow_flex.velocity", "left_gripper.effort", "left_gripper.pos", "left_gripper.velocity", "left_shoulder_lift.effort", "left_shoulder_lift.pos", "left_shoulder_lift.velocity", "left_shoulder_pan.effort", "left_shoulder_pan.pos", "left_shoulder_pan.velocity", "left_wrist_flex.effort", "left_wrist_flex.pos", "left_wrist_flex.velocity", "left_wrist_roll.effort", "left_wrist_roll.pos", "left_wrist_roll.velocity", "left_wrist_rotate.effort", "left_wrist_rotate.pos", "left_wrist_rotate.velocity", "right_eef.gripper", "right_eef.pitch", "right_eef.roll", "right_eef.x", "right_eef.y", "right_eef.yaw", "right_eef.z", "right_elbow_flex.effort", "right_elbow_flex.pos", "right_elbow_flex.velocity", "right_gripper.effort", "right_gripper.pos", "right_gripper.velocity", "right_shoulder_lift.effort", "right_shoulder_lift.pos", "right_shoulder_lift.velocity", "right_shoulder_pan.effort", "right_shoulder_pan.pos", "right_shoulder_pan.velocity", "right_wrist_flex.effort", "right_wrist_flex.pos", "right_wrist_flex.velocity", "right_wrist_roll.effort", "right_wrist_roll.pos", "right_wrist_roll.velocity", "right_wrist_rotate.effort", "right_wrist_rotate.pos", "right_wrist_rotate.velocity" ] }, "observation.state": { "dtype": "float32", "shape": [ 56 ], "names": [ "left_eef.gripper", "left_eef.pitch", "left_eef.roll", "left_eef.x", "left_eef.y", "left_eef.yaw", "left_eef.z", "left_elbow_flex.effort", "left_elbow_flex.pos", "left_elbow_flex.velocity", "left_gripper.effort", "left_gripper.pos", "left_gripper.velocity", "left_shoulder_lift.effort", "left_shoulder_lift.pos", "left_shoulder_lift.velocity", "left_shoulder_pan.effort", "left_shoulder_pan.pos", "left_shoulder_pan.velocity", "left_wrist_flex.effort", "left_wrist_flex.pos", "left_wrist_flex.velocity", "left_wrist_roll.effort", "left_wrist_roll.pos", "left_wrist_roll.velocity", "left_wrist_rotate.effort", "left_wrist_rotate.pos", "left_wrist_rotate.velocity", "right_eef.gripper", "right_eef.pitch", "right_eef.roll", "right_eef.x", "right_eef.y", "right_eef.yaw", "right_eef.z", "right_elbow_flex.effort", "right_elbow_flex.pos", "right_elbow_flex.velocity", "right_gripper.effort", "right_gripper.pos", "right_gripper.velocity", "right_shoulder_lift.effort", "right_shoulder_lift.pos", "right_shoulder_lift.velocity", "right_shoulder_pan.effort", "right_shoulder_pan.pos", "right_shoulder_pan.velocity", "right_wrist_flex.effort", "right_wrist_flex.pos", "right_wrist_flex.velocity", "right_wrist_roll.effort", "right_wrist_roll.pos", "right_wrist_roll.velocity", "right_wrist_rotate.effort", "right_wrist_rotate.pos", "right_wrist_rotate.velocity" ] }, "observation.images.left_front": { "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": 20, "video.channels": 3, "has_audio": false } }, "observation.images.left_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": 20, "video.channels": 3, "has_audio": false } }, "observation.images.right_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": 20, "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 } } }