| | { |
| | "codebase_version": "v3.0", |
| | "robot_type": "aloha", |
| | "total_episodes": 49, |
| | "total_frames": 29400, |
| | "total_tasks": 1, |
| | "chunks_size": 1000, |
| | "data_files_size_in_mb": 100, |
| | "video_files_size_in_mb": 200, |
| | "fps": 50, |
| | "splits": { |
| | "train": "0:49" |
| | }, |
| | "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": [ |
| | 14 |
| | ], |
| | "names": [ |
| | [ |
| | "left_waist", |
| | "left_shoulder", |
| | "left_elbow", |
| | "left_forearm_roll", |
| | "left_wrist_angle", |
| | "left_wrist_rotate", |
| | "left_gripper", |
| | "right_waist", |
| | "right_shoulder", |
| | "right_elbow", |
| | "right_forearm_roll", |
| | "right_wrist_angle", |
| | "right_wrist_rotate", |
| | "right_gripper" |
| | ] |
| | ] |
| | }, |
| | "action": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 14 |
| | ], |
| | "names": [ |
| | [ |
| | "left_waist", |
| | "left_shoulder", |
| | "left_elbow", |
| | "left_forearm_roll", |
| | "left_wrist_angle", |
| | "left_wrist_rotate", |
| | "left_gripper", |
| | "right_waist", |
| | "right_shoulder", |
| | "right_elbow", |
| | "right_forearm_roll", |
| | "right_wrist_angle", |
| | "right_wrist_rotate", |
| | "right_gripper" |
| | ] |
| | ] |
| | }, |
| | "observation.images.cam_high": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.codec": "h264", |
| | "video.pix_fmt": "yuvj420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 50, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.images.cam_low": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.codec": "h264", |
| | "video.pix_fmt": "yuvj420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 50, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.images.cam_left_wrist": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.codec": "h264", |
| | "video.pix_fmt": "yuvj420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 50, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.images.cam_right_wrist": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.codec": "h264", |
| | "video.pix_fmt": "yuvj420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 50, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "timestamp": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "frame_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "episode_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "task_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | } |
| | } |
| | } |