{ "chunks_size": 1000, "codebase_version": "v3.0", "data_files_size_in_mb": 100, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "features": { "action": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 44 ] }, "action.ee_delta": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 12 ] }, "action.head_rotation": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 4 ] }, "action.left_finger_position": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 11 ] }, "action.right_finger_position": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 11 ] }, "action.root_angular_velocity": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 3 ] }, "action.root_linear_velocity": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 3 ] }, "episode_index": { "dtype": "int64", "fps": 25.00000987202319, "names": null, "shape": [ 1 ] }, "frame_index": { "dtype": "int64", "fps": 25.00000987202319, "names": null, "shape": [ 1 ] }, "index": { "dtype": "int64", "fps": 25.00000987202319, "names": null, "shape": [ 1 ] }, "next.done": { "dtype": "bool", "fps": 25.00000987202319, "names": null, "shape": [ 1 ] }, "observation.ee_delta_action": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 12 ] }, "observation.ee_pose": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 14 ] }, "observation.finger_contact": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 34 ] }, "observation.finger_contact_force": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 34 ] }, "observation.head_rotation": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 4 ] }, "observation.images.r1_head": { "dtype": "video", "fps": 25.00000987202319, "info": { "has_audio": false, "video.channels": 3, "video.codec": "mp4v", "video.fps": 25.00000987202319, "video.height": 480, "video.is_depth_map": false, "video.pix_fmt": "yuv420p", "video.width": 640 }, "names": [ "height", "width", "channel" ], "shape": [ 480, 640, 3 ] }, "observation.left_finger_position": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 11 ] }, "observation.right_finger_position": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 11 ] }, "observation.root_angular_velocity": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 3 ] }, "observation.root_height": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 1 ] }, "observation.root_linear_velocity": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 3 ] }, "observation.state": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 81 ] }, "r1.finger_contact_link_names": { "dtype": "string", "fps": 25.00000987202319, "names": null, "shape": [ 1 ] }, "r1.original_frame_index": { "dtype": "int64", "fps": 25.00000987202319, "names": null, "shape": [ 1 ] }, "task_index": { "dtype": "int64", "fps": 25.00000987202319, "names": null, "shape": [ 1 ] }, "timestamp": { "dtype": "float32", "fps": 25.00000987202319, "names": null, "shape": [ 1 ] } }, "fps": 25.00000987202319, "merged_from": { "/home/shadeform/lerobot_datasets/par/r1_v7e_c0": 21, "/home/shadeform/lerobot_datasets/par/r1_v7e_c0b": 17, "/home/shadeform/lerobot_datasets/par/r1_v7e_c1": 21, "/home/shadeform/lerobot_datasets/r1_v6_ep00006_all": 79, "/home/shadeform/lerobot_datasets/r1_v7e_par/workers/w0_c0": 162, "/home/shadeform/lerobot_datasets/r1_v7e_par/workers/w1_c0": 156, "/home/shadeform/lerobot_datasets/r1_v7e_par/workers/w2_c1": 123 }, "robot_type": "unitree_r1_revo2", "splits": { "train": "0:579" }, "total_chunks": 1, "total_episodes": 579, "total_frames": 621975, "total_tasks": 3, "total_videos": 579, "video_files_size_in_mb": 500, "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" }