{ "codebase_version": "v3.0", "robot_type": "panda", "total_episodes": 2, "total_frames": 302, "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": { "observation.state.joint_00": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_00" ] }, "observation.state.joint_01": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_01" ] }, "observation.state.joint_02": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_02" ] }, "observation.state.joint_03": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_03" ] }, "observation.state.joint_04": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_04" ] }, "observation.state.joint_05": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_05" ] }, "observation.state.joint_06": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_06" ] }, "observation.state.joint_07": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_07" ] }, "observation.state.joint_08": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_08" ] }, "observation.images.agentview": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "action.joint_00": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_00" ] }, "action.joint_01": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_01" ] }, "action.joint_02": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_02" ] }, "action.joint_03": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_03" ] }, "action.joint_04": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_04" ] }, "action.joint_05": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_05" ] }, "action.joint_06": { "dtype": "float32", "shape": [ 1 ], "names": [ "joint_06" ] }, "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 } } }