| { |
| "codebase_version": "v3.0", |
| "robot_type": "robomimic", |
| "total_episodes": 1000, |
| "total_frames": 315796, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 20, |
| "splits": { |
| "train": "0:1000" |
| }, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 24 |
| ], |
| "names": [ |
| "action_0", |
| "action_1", |
| "action_2", |
| "action_3", |
| "action_4", |
| "action_5", |
| "action_6", |
| "action_7", |
| "action_8", |
| "action_9", |
| "action_10", |
| "action_11", |
| "action_12", |
| "action_13", |
| "action_14", |
| "action_15", |
| "action_16", |
| "action_17", |
| "action_18", |
| "action_19", |
| "action_20", |
| "action_21", |
| "action_22", |
| "action_23" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 36 |
| ], |
| "names": [ |
| "robot0_right_eef_pos_0", |
| "robot0_right_eef_pos_1", |
| "robot0_right_eef_pos_2", |
| "robot0_right_eef_quat_0", |
| "robot0_right_eef_quat_1", |
| "robot0_right_eef_quat_2", |
| "robot0_right_eef_quat_3", |
| "robot0_right_gripper_qpos_0", |
| "robot0_right_gripper_qpos_1", |
| "robot0_right_gripper_qpos_2", |
| "robot0_right_gripper_qpos_3", |
| "robot0_right_gripper_qpos_4", |
| "robot0_right_gripper_qpos_5", |
| "robot0_right_gripper_qpos_6", |
| "robot0_right_gripper_qpos_7", |
| "robot0_right_gripper_qpos_8", |
| "robot0_right_gripper_qpos_9", |
| "robot0_right_gripper_qpos_10", |
| "robot0_left_eef_pos_0", |
| "robot0_left_eef_pos_1", |
| "robot0_left_eef_pos_2", |
| "robot0_left_eef_quat_0", |
| "robot0_left_eef_quat_1", |
| "robot0_left_eef_quat_2", |
| "robot0_left_eef_quat_3", |
| "robot0_left_gripper_qpos_0", |
| "robot0_left_gripper_qpos_1", |
| "robot0_left_gripper_qpos_2", |
| "robot0_left_gripper_qpos_3", |
| "robot0_left_gripper_qpos_4", |
| "robot0_left_gripper_qpos_5", |
| "robot0_left_gripper_qpos_6", |
| "robot0_left_gripper_qpos_7", |
| "robot0_left_gripper_qpos_8", |
| "robot0_left_gripper_qpos_9", |
| "robot0_left_gripper_qpos_10" |
| ] |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "observation.images.frontview_image": { |
| "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_left_hand_image": { |
| "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_right_hand_image": { |
| "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 |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "done" |
| ] |
| } |
| } |
| } |