| { |
| "codebase_version": "v2.1", |
| "robot_type": null, |
| "total_episodes": 100, |
| "total_frames": 85350, |
| "total_tasks": 1, |
| "total_videos": 300, |
| "total_chunks": 1, |
| "chunks_size": 10000, |
| "fps": 30, |
| "splits": { |
| "train": "0:100" |
| }, |
| "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", |
| "names": [ |
| "leader_joint1_right.pos", |
| "leader_joint2_right.pos", |
| "leader_joint3_right.pos", |
| "leader_joint4_right.pos", |
| "leader_joint5_right.pos", |
| "leader_joint6_right.pos", |
| "leader_gripper_right.pos", |
| "leader_joint1_left.pos", |
| "leader_joint2_left.pos", |
| "leader_joint3_left.pos", |
| "leader_joint4_left.pos", |
| "leader_joint5_left.pos", |
| "leader_joint6_left.pos", |
| "leader_gripper_left.pos" |
| ], |
| "shape": [ |
| 14 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "follower_joint1_right.pos", |
| "follower_joint2_right.pos", |
| "follower_joint3_right.pos", |
| "follower_joint4_right.pos", |
| "follower_joint5_right.pos", |
| "follower_joint6_right.pos", |
| "follower_gripper_right.pos", |
| "follower_pose_right_x.pos", |
| "follower_pose_right_y.pos", |
| "follower_pose_right_z.pos", |
| "follower_pose_right_rx.pos", |
| "follower_pose_right_ry.pos", |
| "follower_pose_right_rz.pos", |
| "follower_joint1_left.pos", |
| "follower_joint2_left.pos", |
| "follower_joint3_left.pos", |
| "follower_joint4_left.pos", |
| "follower_joint5_left.pos", |
| "follower_joint6_left.pos", |
| "follower_gripper_left.pos", |
| "follower_pose_left_x.pos", |
| "follower_pose_left_y.pos", |
| "follower_pose_left_z.pos", |
| "follower_pose_left_rx.pos", |
| "follower_pose_left_ry.pos", |
| "follower_pose_left_rz.pos" |
| ], |
| "shape": [ |
| 26 |
| ] |
| }, |
| "observation.images.image_top": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.image_right": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.image_left": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "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 |
| } |
| }, |
| "dorobot_dataset_version": "v1.0", |
| "image_path": null, |
| "audio_path": null |
| } |
