| { | |
| "codebase_version": "v3.0", | |
| "robot_type": null, | |
| "total_episodes": 5125, | |
| "total_frames": 829182, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:5125" | |
| }, | |
| "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": [ | |
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| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "tcp_x", | |
| "tcp_y", | |
| "tcp_z", | |
| "joint_vel_0", | |
| "joint_vel_1", | |
| "joint_vel_2", | |
| "joint_vel_3", | |
| "joint_vel_4", | |
| "joint_vel_5", | |
| "tcp_rx", | |
| "tcp_ry", | |
| "tcp_rz", | |
| "tcp_a", | |
| "tcp_b", | |
| "tcp_c", | |
| "motor_current_0", | |
| "motor_current_1", | |
| "motor_current_2", | |
| "motor_current_3", | |
| "motor_current_4", | |
| "motor_current_5", | |
| "motor_torque_0", | |
| "motor_torque_1", | |
| "motor_torque_2", | |
| "motor_torque_3", | |
| "motor_torque_4", | |
| "motor_torque_5", | |
| "motor_temp_0", | |
| "motor_temp_1", | |
| "motor_temp_2", | |
| "motor_temp_3", | |
| "motor_temp_4", | |
| "motor_temp_5", | |
| "setpoint_pos_0", | |
| "setpoint_pos_1", | |
| "setpoint_pos_2", | |
| "setpoint_pos_3", | |
| "setpoint_pos_4", | |
| "setpoint_pos_5", | |
| "cart_accel_x", | |
| "cart_accel_y", | |
| "cart_accel_z", | |
| "cart_accel_abs", | |
| "speed_override", | |
| "process_state", | |
| "digital_output_1", | |
| "digital_output_2", | |
| "digital_output_3", | |
| "digital_output_4", | |
| "digital_output_5", | |
| "digital_output_6", | |
| "digital_output_7", | |
| "digital_output_8", | |
| "digital_output_9", | |
| "digital_output_10", | |
| "digital_output_11", | |
| "digital_output_12", | |
| "digital_output_13", | |
| "digital_output_14", | |
| "digital_output_15", | |
| "digital_output_16", | |
| "digital_input_1", | |
| "digital_input_2", | |
| "digital_input_3", | |
| "digital_input_4", | |
| "digital_input_5", | |
| "digital_input_6", | |
| "digital_input_7", | |
| "digital_input_8", | |
| "digital_input_9", | |
| "digital_input_10", | |
| "digital_input_11", | |
| "digital_input_12", | |
| "digital_input_13", | |
| "digital_input_14", | |
| "digital_input_15", | |
| "digital_input_16" | |
| ] | |
| }, | |
| "observation.images.cam_2d": { | |
| "dtype": "video", | |
| "shape": [ | |
| 720, | |
| 1280, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.width": 1280, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_3d": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "safety_mode": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "safety_mode" | |
| ] | |
| }, | |
| "task_phase": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "task_phase" | |
| ] | |
| }, | |
| "fault": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "fault" | |
| ] | |
| }, | |
| "skill_index": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "skill_index" | |
| ] | |
| }, | |
| "robot": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "robot" | |
| ] | |
| }, | |
| "fault_id": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "fault_id" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |