{ "codebase_version": "v3.0", "fps": 29.798752289817198, "features": { "observation.state": { "dtype": "float32", "shape": [ 31 ], "names": [ [ "kLeftHipPitch", "kLeftHipRoll", "kLeftHipYaw", "kLeftKnee", "kLeftAnklePitch", "kLeftAnkleRoll", "kRightHipPitch", "kRightHipRoll", "kRightHipYaw", "kRightKnee", "kRightAnklePitch", "kRightAnkleRoll", "kWaistYaw", "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristYaw", "kLeftWristPitch", "kLeftWristRoll", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristYaw", "kRightWristPitch", "kRightWristRoll", "kHeadYaw", "kHeadPitch", "kLeft", "kRight" ] ] }, "action": { "dtype": "float32", "shape": [ 31 ], "names": [ [ "kLeftHipPitch", "kLeftHipRoll", "kLeftHipYaw", "kLeftKnee", "kLeftAnklePitch", "kLeftAnkleRoll", "kRightHipPitch", "kRightHipRoll", "kRightHipYaw", "kRightKnee", "kRightAnklePitch", "kRightAnkleRoll", "kWaistYaw", "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristYaw", "kLeftWristPitch", "kLeftWristRoll", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristYaw", "kRightWristPitch", "kRightWristRoll", "kHeadYaw", "kHeadPitch", "kLeft", "kRight" ] ] }, "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 }, "dataset_from_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "dataset_to_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "observation.images.cam_head": { "dtype": "video", "shape": [ 400, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 400, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.fps": 29.798752289817198, "video.channels": 3, "video.video_backend": "pyav" } }, "observation.images.cam_torso": { "dtype": "video", "shape": [ 400, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 400, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.fps": 29.798752289817198, "video.channels": 3, "video.video_backend": "pyav" } }, "observation.images.cam_left_wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.fps": 29.798752289817198, "video.channels": 3, "video.video_backend": "pyav" } }, "observation.images.cam_right_wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.fps": 29.798752289817198, "video.channels": 3, "video.video_backend": "pyav" } } }, "total_episodes": 1, "total_frames": 4584, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 0.42, "video_files_size_in_mb": 102.33, "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", "videos_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" }