{ "codebase_version": "v3.0", "robot_type": "mixed", "total_episodes": 91, "total_frames": 10427, "total_tasks": 1, "chunks_size": 1000, "fps": 3, "splits": { "train": "0:91" }, "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.widowX.joints": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.widowX.ee_pose": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.widowX.base_position": { "dtype": "float32", "shape": [ 3 ], "fps": 3 }, "observation.widowX.base_orientation": { "dtype": "float32", "shape": [ 1 ], "fps": 3 }, "observation.widowX.ee_error": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.images.widowX": { "dtype": "video", "shape": [ 128, 128, 3 ], "info": { "video.height": 128, "video.width": 128, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.sawyer.joints": { "dtype": "float32", "shape": [ 8 ], "fps": 3 }, "observation.sawyer.ee_pose": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.sawyer.base_position": { "dtype": "float32", "shape": [ 3 ], "fps": 3 }, "observation.sawyer.base_orientation": { "dtype": "float32", "shape": [ 1 ], "fps": 3 }, "observation.sawyer.ee_error": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.images.sawyer": { "dtype": "video", "shape": [ 128, 128, 3 ], "info": { "video.height": 128, "video.width": 128, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.ur5e.joints": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.ur5e.ee_pose": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.ur5e.base_position": { "dtype": "float32", "shape": [ 3 ], "fps": 3 }, "observation.ur5e.base_orientation": { "dtype": "float32", "shape": [ 1 ], "fps": 3 }, "observation.ur5e.ee_error": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.images.ur5e": { "dtype": "video", "shape": [ 128, 128, 3 ], "info": { "video.height": 128, "video.width": 128, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.google_robot.joints": { "dtype": "float32", "shape": [ 8 ], "fps": 3 }, "observation.google_robot.ee_pose": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.google_robot.base_position": { "dtype": "float32", "shape": [ 3 ], "fps": 3 }, "observation.google_robot.base_orientation": { "dtype": "float32", "shape": [ 1 ], "fps": 3 }, "observation.google_robot.ee_error": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.images.google_robot": { "dtype": "video", "shape": [ 128, 128, 3 ], "info": { "video.height": 128, "video.width": 128, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.jaco.joints": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.jaco.ee_pose": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.jaco.base_position": { "dtype": "float32", "shape": [ 3 ], "fps": 3 }, "observation.jaco.base_orientation": { "dtype": "float32", "shape": [ 1 ], "fps": 3 }, "observation.jaco.ee_error": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.images.jaco": { "dtype": "video", "shape": [ 128, 128, 3 ], "info": { "video.height": 128, "video.width": 128, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.kinova3.joints": { "dtype": "float32", "shape": [ 8 ], "fps": 3 }, "observation.kinova3.ee_pose": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.kinova3.base_position": { "dtype": "float32", "shape": [ 3 ], "fps": 3 }, "observation.kinova3.base_orientation": { "dtype": "float32", "shape": [ 1 ], "fps": 3 }, "observation.kinova3.ee_error": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.images.kinova3": { "dtype": "video", "shape": [ 128, 128, 3 ], "info": { "video.height": 128, "video.width": 128, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.kuka_iiwa.joints": { "dtype": "float32", "shape": [ 8 ], "fps": 3 }, "observation.kuka_iiwa.ee_pose": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.kuka_iiwa.base_position": { "dtype": "float32", "shape": [ 3 ], "fps": 3 }, "observation.kuka_iiwa.base_orientation": { "dtype": "float32", "shape": [ 1 ], "fps": 3 }, "observation.kuka_iiwa.ee_error": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.images.kuka_iiwa": { "dtype": "video", "shape": [ 128, 128, 3 ], "info": { "video.height": 128, "video.width": 128, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.xarm7.joints": { "dtype": "float32", "shape": [ 8 ], "fps": 3 }, "observation.xarm7.ee_pose": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.xarm7.base_position": { "dtype": "float32", "shape": [ 3 ], "fps": 3 }, "observation.xarm7.base_orientation": { "dtype": "float32", "shape": [ 1 ], "fps": 3 }, "observation.xarm7.ee_error": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "observation.images.xarm7": { "dtype": "video", "shape": [ 128, 128, 3 ], "info": { "video.height": 128, "video.width": 128, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.image": { "dtype": "video", "shape": [ 128, 128, 3 ], "info": { "video.height": 128, "video.width": 128, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "natural_language_instruction": { "dtype": "string", "shape": [ 1 ], "fps": 3 }, "observation.state": { "dtype": "float32", "shape": [ 13 ], "fps": 3 }, "observation.joints": { "dtype": "float32", "shape": [ 8 ], "fps": 3 }, "observation.ee_pose": { "dtype": "float32", "shape": [ 7 ], "fps": 3 }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null, "fps": 3 }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 3 }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 3 }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 3 }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 3 } }, "data_files_size_in_mb": 500, "video_files_size_in_mb": 500 }