| { |
| "codebase_version": "v3.0", |
| "robot_type": "fa", |
| "total_episodes": 36, |
| "total_frames": 38357, |
| "total_tasks": 1, |
| "total_videos": 108, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:42" |
| }, |
| "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": { |
| "shape": [ |
| 16 |
| ], |
| "dtype": "float32", |
| "names": [ |
| "fa_left_joint_0", |
| "fa_left_joint_1", |
| "fa_left_joint_2", |
| "fa_left_joint_3", |
| "fa_left_joint_4", |
| "fa_left_joint_5", |
| "fa_left_joint_6", |
| "fa_right_joint_0", |
| "fa_right_joint_1", |
| "fa_right_joint_2", |
| "fa_right_joint_3", |
| "fa_right_joint_4", |
| "fa_right_joint_5", |
| "fa_right_joint_6", |
| "left_hand_gripper_state", |
| "right_hand_gripper_state" |
| ] |
| }, |
| "action": { |
| "shape": [ |
| 16 |
| ], |
| "dtype": "float32", |
| "names": [ |
| "fa_left_next_joint_0_rad", |
| "fa_left_next_joint_1_rad", |
| "fa_left_next_joint_2_rad", |
| "fa_left_next_joint_3_rad", |
| "fa_left_next_joint_4_rad", |
| "fa_left_next_joint_5_rad", |
| "fa_left_next_joint_6_rad", |
| "fa_right_next_joint_0_rad", |
| "fa_right_next_joint_1_rad", |
| "fa_right_next_joint_2_rad", |
| "fa_right_next_joint_3_rad", |
| "fa_right_next_joint_4_rad", |
| "fa_right_next_joint_5_rad", |
| "fa_right_next_joint_6_rad", |
| "left_hand_next_gripper_state", |
| "right_hand_next_gripper_state" |
| ] |
| }, |
| "observation.images.front": { |
| "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": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.left_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": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_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": 30, |
| "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 |
| } |
| }, |
| "episodes_path": "meta/episodes/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "episodes_stats_path": "meta/episodes_stats/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet" |
| } |
