{ "codebase_version": "v3.0", "robot_type": "double_piperx", "total_episodes": 17, "total_frames": 11896, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:17" }, "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.state": { "dtype": "float64", "shape": [ 14 ], "names": [ [ "arm.jointStatePosition.puppetLeft.joint0", "arm.jointStatePosition.puppetLeft.joint1", "arm.jointStatePosition.puppetLeft.joint2", "arm.jointStatePosition.puppetLeft.joint3", "arm.jointStatePosition.puppetLeft.joint4", "arm.jointStatePosition.puppetLeft.joint5", "arm.jointStatePosition.puppetLeft.joint6", "arm.jointStatePosition.puppetRight.joint0", "arm.jointStatePosition.puppetRight.joint1", "arm.jointStatePosition.puppetRight.joint2", "arm.jointStatePosition.puppetRight.joint3", "arm.jointStatePosition.puppetRight.joint4", "arm.jointStatePosition.puppetRight.joint5", "arm.jointStatePosition.puppetRight.joint6" ] ] }, "action": { "dtype": "float64", "shape": [ 14 ], "names": [ [ "arm.jointStatePosition.masterLeft.joint0", "arm.jointStatePosition.masterLeft.joint1", "arm.jointStatePosition.masterLeft.joint2", "arm.jointStatePosition.masterLeft.joint3", "arm.jointStatePosition.masterLeft.joint4", "arm.jointStatePosition.masterLeft.joint5", "arm.jointStatePosition.masterLeft.joint6", "arm.jointStatePosition.masterRight.joint0", "arm.jointStatePosition.masterRight.joint1", "arm.jointStatePosition.masterRight.joint2", "arm.jointStatePosition.masterRight.joint3", "arm.jointStatePosition.masterRight.joint4", "arm.jointStatePosition.masterRight.joint5", "arm.jointStatePosition.masterRight.joint6" ] ] }, "observation.images.left": { "dtype": "video", "shape": [ 3, 480, 640 ], "names": [ "channels", "height", "width" ], "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 } }, "observation.images.front": { "dtype": "video", "shape": [ 3, 480, 640 ], "names": [ "channels", "height", "width" ], "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 } }, "observation.images.right": { "dtype": "video", "shape": [ 3, 480, 640 ], "names": [ "channels", "height", "width" ], "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 } }, "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 } } }