| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "dvrk_psm", | |
| "total_episodes": 109, | |
| "total_frames": 21117, | |
| "total_tasks": 11, | |
| "chunks_size": 1000, | |
| "fps": 28, | |
| "splits": { | |
| "train": "0:109" | |
| }, | |
| "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.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 16 | |
| ], | |
| "names": [ | |
| "psm1_pos_x", | |
| "psm1_pos_y", | |
| "psm1_pos_z", | |
| "psm1_quat_x", | |
| "psm1_quat_y", | |
| "psm1_quat_z", | |
| "psm1_quat_w", | |
| "psm1_jaw", | |
| "psm2_pos_x", | |
| "psm2_pos_y", | |
| "psm2_pos_z", | |
| "psm2_quat_x", | |
| "psm2_quat_y", | |
| "psm2_quat_z", | |
| "psm2_quat_w", | |
| "psm2_jaw" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 16 | |
| ], | |
| "names": [ | |
| "psm1_pos_x", | |
| "psm1_pos_y", | |
| "psm1_pos_z", | |
| "psm1_quat_x", | |
| "psm1_quat_y", | |
| "psm1_quat_z", | |
| "psm1_quat_w", | |
| "psm1_jaw", | |
| "psm2_pos_x", | |
| "psm2_pos_y", | |
| "psm2_pos_z", | |
| "psm2_quat_x", | |
| "psm2_quat_y", | |
| "psm2_quat_z", | |
| "psm2_quat_w", | |
| "psm2_jaw" | |
| ] | |
| }, | |
| "observation.images.endoscope_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 256, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.fps": 28, | |
| "video.channels": 3, | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| } | |
| } | |
| } |