{ "codebase_version": "v3.0", "robot_type": "ur5", "total_episodes": 1, "total_frames": 2261, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:1" }, "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": { "observation.images.cam_1": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_2": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_3": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "raw_state.joint_pos": { "dtype": "float32", "shape": [ 6 ], "names": [ "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] }, "raw_state.eef_xyz": { "dtype": "float32", "shape": [ 3 ], "names": [ "x", "y", "z" ] }, "raw_state.eef_rot6d": { "dtype": "float32", "shape": [ 6 ], "names": [ "rot1", "rot2", "rot3", "rot4", "rot5", "rot6" ] }, "raw_state.gripper_state": { "dtype": "float32", "shape": [ 1 ], "names": [ "width_m" ] }, "state.joint_pos": { "dtype": "float32", "shape": [ 6 ], "names": [ "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] }, "state.eef_xyz": { "dtype": "float32", "shape": [ 3 ], "names": [ "x", "y", "z" ] }, "state.eef_rot6d": { "dtype": "float32", "shape": [ 6 ], "names": [ "rot1", "rot2", "rot3", "rot4", "rot5", "rot6" ] }, "state.gripper_state": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper" ] }, "debug.gripper_eef_xyz": { "dtype": "float32", "shape": [ 3 ], "names": [ "x", "y", "z" ] }, "debug.gripper_eef_rot6d": { "dtype": "float32", "shape": [ 6 ], "names": [ "rot1", "rot2", "rot3", "rot4", "rot5", "rot6" ] }, "success": { "dtype": "float32", "shape": [ 1 ], "names": [ "success" ] }, "score": { "dtype": "float32", "shape": [ 1 ], "names": [ "score" ] }, "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 } } }