| { |
| "codebase_version": "v3.0", |
| "fps": 15, |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 22 |
| ], |
| "names": [ |
| "arm_l_joint1", |
| "arm_l_joint2", |
| "arm_l_joint3", |
| "arm_l_joint4", |
| "arm_l_joint5", |
| "arm_l_joint6", |
| "arm_l_joint7", |
| "gripper_l_joint1", |
| "arm_r_joint1", |
| "arm_r_joint2", |
| "arm_r_joint3", |
| "arm_r_joint4", |
| "arm_r_joint5", |
| "arm_r_joint6", |
| "arm_r_joint7", |
| "gripper_r_joint1", |
| "head_joint1", |
| "head_joint2", |
| "lift_joint", |
| "linear_x", |
| "linear_y", |
| "angular_z" |
| ], |
| "fps": 15 |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 22 |
| ], |
| "names": [ |
| "arm_l_joint1", |
| "arm_l_joint2", |
| "arm_l_joint3", |
| "arm_l_joint4", |
| "arm_l_joint5", |
| "arm_l_joint6", |
| "arm_l_joint7", |
| "gripper_l_joint1", |
| "arm_r_joint1", |
| "arm_r_joint2", |
| "arm_r_joint3", |
| "arm_r_joint4", |
| "arm_r_joint5", |
| "arm_r_joint6", |
| "arm_r_joint7", |
| "gripper_r_joint1", |
| "head_joint1", |
| "head_joint2", |
| "lift_joint", |
| "linear_x", |
| "linear_y", |
| "angular_z" |
| ], |
| "fps": 15 |
| }, |
| "observation.images.rgb.cam_left_head": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 15.0, |
| "video.height": 720, |
| "video.width": 1280, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.rgb.cam_left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 640, |
| 480 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 15.0, |
| "video.height": 640, |
| "video.width": 480, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.rgb.cam_right_head": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 15.0, |
| "video.height": 720, |
| "video.width": 1280, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.rgb.cam_right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 640, |
| 480 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 15.0, |
| "video.height": 640, |
| "video.width": 480, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 15 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 15 |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 15 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 15 |
| }, |
| "subtask_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 15 |
| } |
| }, |
| "total_episodes": 121, |
| "total_frames": 25585, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "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", |
| "robot_type": "ffw_sg2_rev1", |
| "splits": { |
| "train": "0:121" |
| } |
| } |
