| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "alex", | |
| "total_episodes": 12, | |
| "total_frames": 652, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 15, | |
| "splits": { | |
| "train": "0:12" | |
| }, | |
| "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": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 29 | |
| ], | |
| "names": [ | |
| "LEFT_HIP_X", | |
| "LEFT_HIP_Z", | |
| "LEFT_HIP_Y", | |
| "LEFT_KNEE_Y", | |
| "LEFT_ANKLE_Y", | |
| "LEFT_ANKLE_X", | |
| "RIGHT_HIP_X", | |
| "RIGHT_HIP_Z", | |
| "RIGHT_HIP_Y", | |
| "RIGHT_KNEE_Y", | |
| "RIGHT_ANKLE_Y", | |
| "RIGHT_ANKLE_X", | |
| "SPINE_Z", | |
| "LEFT_SHOULDER_Y", | |
| "LEFT_SHOULDER_X", | |
| "LEFT_SHOULDER_Z", | |
| "LEFT_ELBOW_Y", | |
| "LEFT_WRIST_Z", | |
| "LEFT_WRIST_X", | |
| "RIGHT_SHOULDER_Y", | |
| "RIGHT_SHOULDER_X", | |
| "RIGHT_SHOULDER_Z", | |
| "RIGHT_ELBOW_Y", | |
| "RIGHT_WRIST_Z", | |
| "RIGHT_WRIST_X", | |
| "LEFT_GRIPPER_Z", | |
| "RIGHT_GRIPPER_Z", | |
| "NECK_Z", | |
| "NECK_Y" | |
| ] | |
| }, | |
| "action": { | |
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| 27 | |
| ], | |
| "names": [ | |
| "LEFT_HIP_X", | |
| "LEFT_HIP_Z", | |
| "LEFT_HIP_Y", | |
| "LEFT_KNEE_Y", | |
| "LEFT_ANKLE_Y", | |
| "LEFT_ANKLE_X", | |
| "RIGHT_HIP_X", | |
| "RIGHT_HIP_Z", | |
| "RIGHT_HIP_Y", | |
| "RIGHT_KNEE_Y", | |
| "RIGHT_ANKLE_Y", | |
| "RIGHT_ANKLE_X", | |
| "SPINE_Z", | |
| "LEFT_SHOULDER_Y", | |
| "LEFT_SHOULDER_X", | |
| "LEFT_SHOULDER_Z", | |
| "LEFT_ELBOW_Y", | |
| "LEFT_WRIST_Z", | |
| "LEFT_WRIST_X", | |
| "RIGHT_SHOULDER_Y", | |
| "RIGHT_SHOULDER_X", | |
| "RIGHT_SHOULDER_Z", | |
| "RIGHT_ELBOW_Y", | |
| "RIGHT_WRIST_Z", | |
| "RIGHT_WRIST_X", | |
| "LEFT_GRIPPER_Z", | |
| "RIGHT_GRIPPER_Z" | |
| ] | |
| }, | |
| "observation.images.cam_zed_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 15, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_zed_right": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 15, | |
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| "has_audio": false | |
| } | |
| }, | |
| "timestamp": { | |
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| "names": null | |
| }, | |
| "frame_index": { | |
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| "names": null | |
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| "names": null | |
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| "names": null | |
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| "task_index": { | |
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| ], | |
| "names": null | |
| } | |
| } | |
| } |