| { |
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| "robot_type": null, |
| "total_episodes": 500, |
| "total_frames": 138090, |
| "total_tasks": 10, |
| "total_videos": 2000, |
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| "chunks_size": 1000, |
| "fps": 30, |
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| }, |
| "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", |
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| ], |
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| "ee_pos_1", |
| "ee_pos_2", |
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| "ee_ori_1", |
| "ee_rot_2", |
| "gripper_state_0", |
| "gripper_state_1" |
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| "delta_ee_rot_1", |
| "delta_ee_rot_2", |
| "gripper_action" |
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| "observation.images.cam_libero.color": { |
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| 256, |
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| ], |
| "names": [ |
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| "width", |
| "channels" |
| ], |
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| "observation.images.cam_libero.wrist": { |
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| 256, |
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| ], |
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| "channels" |
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| }, |
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| 256, |
| 1 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": "Agentview depth image" |
| }, |
| "observation.images.cam_libero.goal_gripper_proj": { |
| "dtype": "video", |
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| 256, |
| 3 |
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| "names": [ |
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| "channels" |
| ], |
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| ], |
| "names": [ |
| "N", |
| "channels" |
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| "info": "Raw gripper point cloud at current position" |
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| "idx" |
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| "names": [ |
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| } |
| } |
| } |
