|
|
{ |
|
|
"codebase_version": "v3.0", |
|
|
"robot_type": "agilex_3rgb", |
|
|
"total_episodes": 35, |
|
|
"total_frames": 23827, |
|
|
"total_tasks": 1, |
|
|
"chunks_size": 1000, |
|
|
"data_files_size_in_mb": 100, |
|
|
"video_files_size_in_mb": 500, |
|
|
"fps": 30, |
|
|
"splits": { |
|
|
"train": "0:31", |
|
|
"validation": "31:35" |
|
|
}, |
|
|
"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.images.camera_front": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
480, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"rgb" |
|
|
], |
|
|
"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.camera_left_wrist": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
480, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"rgb" |
|
|
], |
|
|
"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.camera_right_wrist": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
480, |
|
|
640, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"rgb" |
|
|
], |
|
|
"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.states.end_effector_left": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"x", |
|
|
"y", |
|
|
"z", |
|
|
"rx", |
|
|
"ry", |
|
|
"rz", |
|
|
"rw" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"observation.states.end_effector_right": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"x", |
|
|
"y", |
|
|
"z", |
|
|
"rx", |
|
|
"ry", |
|
|
"rz", |
|
|
"rw" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"observation.states.joint_effort_left": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"observation.states.joint_effort_right": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"observation.states.joint_position_left": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"observation.states.joint_position_right": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"observation.states.joint_velocity_left": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"observation.states.joint_velocity_right": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"actions.end_effector_left": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"x", |
|
|
"y", |
|
|
"z", |
|
|
"rx", |
|
|
"ry", |
|
|
"rz", |
|
|
"rw" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"actions.end_effector_right": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"x", |
|
|
"y", |
|
|
"z", |
|
|
"rx", |
|
|
"ry", |
|
|
"rz", |
|
|
"rw" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"actions.joint_effort_left": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"actions.joint_effort_right": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"actions.joint_position_left": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"actions.joint_position_right": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"actions.joint_velocity_left": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"actions.joint_velocity_right": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": { |
|
|
"motors": [ |
|
|
"joint_0", |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"gripper" |
|
|
] |
|
|
} |
|
|
}, |
|
|
"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 |
|
|
} |
|
|
}, |
|
|
"tasks": [] |
|
|
} |