| { | |
| "codebase_version": "aic_cheatcode_v0", | |
| "robot_type": "ur5e", | |
| "fps": 20, | |
| "chunks_size": 1000, | |
| "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": { | |
| "observation.images.left": { | |
| "dtype": "video" | |
| }, | |
| "observation.images.center": { | |
| "dtype": "video" | |
| }, | |
| "observation.images.right": { | |
| "dtype": "video" | |
| }, | |
| "observation.state.joints": { | |
| "dtype": "float32" | |
| }, | |
| "observation.state.gripper": { | |
| "dtype": "float32" | |
| }, | |
| "observation.wrench": { | |
| "dtype": "float32" | |
| }, | |
| "observation.tcp_pose_actual": { | |
| "dtype": "float32" | |
| }, | |
| "observation.tcp_pose_target": { | |
| "dtype": "float32" | |
| }, | |
| "observation.tcp_velocity": { | |
| "dtype": "float32" | |
| }, | |
| "action.pose_command": { | |
| "dtype": "float32" | |
| }, | |
| "action.joint_command": { | |
| "dtype": "float32" | |
| }, | |
| "labels.port_pose_base": { | |
| "dtype": "float32" | |
| }, | |
| "labels.plug_pose_base": { | |
| "dtype": "float32" | |
| }, | |
| "labels.gripper_tcp_pose_base": { | |
| "dtype": "float32" | |
| }, | |
| "labels.task_board_pose_base": { | |
| "dtype": "float32" | |
| }, | |
| "labels.port_keypoints_3d_base": { | |
| "dtype": "float32" | |
| }, | |
| "labels.port_keypoints_2d": { | |
| "dtype": "dict" | |
| }, | |
| "labels.port_keypoints_visible": { | |
| "dtype": "dict" | |
| }, | |
| "labels.port_bbox_2d": { | |
| "dtype": "dict" | |
| }, | |
| "labels.all_ports": { | |
| "dtype": "list" | |
| } | |
| } | |
| } |