| { | |
| "codebase_version" : "v2.1", | |
| "robot_type" : "nadia", | |
| "total_episodes" : 10, | |
| "total_frames" : 1025, | |
| "total_tasks" : 1, | |
| "total_videos" : 20, | |
| "total_chunks" : 1, | |
| "chunks_size" : 1000, | |
| "fps" : 15.0, | |
| "splits" : { | |
| "train" : "0:10" | |
| }, | |
| "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.cam_zed_left" : { | |
| "dtype" : "video", | |
| "shape" : [ 480, 640, 3 ], | |
| "names" : [ "height", "width", "channel" ], | |
| "video_info" : { | |
| "video.fps" : 15.0, | |
| "video.codec" : "mpeg4", | |
| "video.pix_fmt" : "yuv420p", | |
| "video.is_depth_map" : false, | |
| "has_audio" : false | |
| } | |
| }, | |
| "observation.images.cam_zed_right" : { | |
| "dtype" : "video", | |
| "shape" : [ 480, 640, 3 ], | |
| "names" : [ "height", "width", "channel" ], | |
| "video_info" : { | |
| "video.fps" : 15.0, | |
| "video.codec" : "mpeg4", | |
| "video.pix_fmt" : "yuv420p", | |
| "video.is_depth_map" : false, | |
| "has_audio" : false | |
| } | |
| }, | |
| "observation.state" : { | |
| "dtype" : "float32", | |
| "shape" : [ 14 ], | |
| "names" : { | |
| "motors" : [ "left_gripper_x", "left_gripper_y", "left_gripper_z", "left_gripper_qx", "left_gripper_qy", "left_gripper_qz", "left_gripper_qs", "right_gripper_x", "right_gripper_y", "right_gripper_z", "right_gripper_qx", "right_gripper_qy", "right_gripper_qz", "right_gripper_qs" ] | |
| } | |
| }, | |
| "action" : { | |
| "dtype" : "float32", | |
| "shape" : [ 14 ], | |
| "names" : { | |
| "motors" : [ "left_gripper_x", "left_gripper_y", "left_gripper_z", "left_gripper_qx", "left_gripper_qy", "left_gripper_qz", "left_gripper_qs", "right_gripper_x", "right_gripper_y", "right_gripper_z", "right_gripper_qx", "right_gripper_qy", "right_gripper_qz", "right_gripper_qs" ] | |
| } | |
| }, | |
| "episode_index" : { | |
| "dtype" : "int64", | |
| "shape" : [ 1 ], | |
| "names" : null | |
| }, | |
| "frame_index" : { | |
| "dtype" : "int64", | |
| "shape" : [ 1 ], | |
| "names" : null | |
| }, | |
| "timestamp" : { | |
| "dtype" : "float32", | |
| "shape" : [ 1 ], | |
| "names" : null | |
| }, | |
| "next.done" : { | |
| "dtype" : "bool", | |
| "shape" : [ 1 ], | |
| "names" : null | |
| }, | |
| "index" : { | |
| "dtype" : "int64", | |
| "shape" : [ 1 ], | |
| "names" : null | |
| }, | |
| "task_index" : { | |
| "dtype" : "int64", | |
| "shape" : [ 1 ], | |
| "names" : null | |
| } | |
| } | |
| } |