{ "codebase_version": "v2.1", "robot_type": "robomimic", "total_episodes": 1026, "total_frames": 298235, "total_tasks": 1, "total_videos": 3078, "total_chunks": 2, "chunks_size": 1000, "fps": 20, "splits": { "train": "0:1026" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": { "action": { "dtype": "float32", "shape": [ 24 ], "names": [ "right_wrist_delta_pos_x", "right_wrist_delta_pos_y", "right_wrist_delta_pos_z", "right_wrist_delta_rot_rx", "right_wrist_delta_rot_ry", "right_wrist_delta_rot_rz", "right_thumb_flexion", "right_thumb_opposition", "right_index_flexion", "right_middle_flexion", "right_ring_flexion", "right_pinky_flexion", "left_wrist_delta_pos_x", "left_wrist_delta_pos_y", "left_wrist_delta_pos_z", "left_wrist_delta_rot_rx", "left_wrist_delta_rot_ry", "left_wrist_delta_rot_rz", "left_thumb_flexion", "left_thumb_opposition", "left_index_flexion", "left_middle_flexion", "left_ring_flexion", "left_pinky_flexion" ] }, "next.done": { "dtype": "bool", "shape": [ 1 ], "names": [ "done" ] }, "observation.state": { "dtype": "float32", "shape": [ 38 ], "names": [ "robot0_eef_pos_0", "robot0_eef_pos_1", "robot0_eef_pos_2", "robot0_eef_quat_0", "robot0_eef_quat_1", "robot0_eef_quat_2", "robot0_eef_quat_3", "robot0_gripper_qpos_0", "robot0_gripper_qpos_1", "robot0_gripper_qpos_2", "robot0_gripper_qpos_3", "robot0_gripper_qpos_4", "robot0_gripper_qpos_5", "robot0_gripper_qpos_6", "robot0_gripper_qpos_7", "robot0_gripper_qpos_8", "robot0_gripper_qpos_9", "robot0_gripper_qpos_10", "robot0_gripper_qpos_11", "robot1_eef_pos_0", "robot1_eef_pos_1", "robot1_eef_pos_2", "robot1_eef_quat_0", "robot1_eef_quat_1", "robot1_eef_quat_2", "robot1_eef_quat_3", "robot1_gripper_qpos_0", "robot1_gripper_qpos_1", "robot1_gripper_qpos_2", "robot1_gripper_qpos_3", "robot1_gripper_qpos_4", "robot1_gripper_qpos_5", "robot1_gripper_qpos_6", "robot1_gripper_qpos_7", "robot1_gripper_qpos_8", "robot1_gripper_qpos_9", "robot1_gripper_qpos_10", "robot1_gripper_qpos_11" ] }, "observation.images.agentview": { "dtype": "video", "shape": [ 84, 84, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 84, "video.width": 84, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.robot0_eye_in_hand": { "dtype": "video", "shape": [ 84, 84, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 84, "video.width": 84, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.robot1_eye_in_hand": { "dtype": "video", "shape": [ 84, 84, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 84, "video.width": 84, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "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 } } }