| { |
| "codebase_version": "v3.0", |
| "robot_type": "ur5e", |
| "total_episodes": 6, |
| "total_frames": 5283, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 20, |
| "splits": { |
| "train": "0:6" |
| }, |
| "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": [ |
| 21 |
| ], |
| "names": [ |
| "shoulder_pan_joint", |
| "shoulder_lift_joint", |
| "elbow_joint", |
| "wrist_1_joint", |
| "wrist_2_joint", |
| "wrist_3_joint", |
| "gripper/left_finger_joint" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "shoulder_pan_joint", |
| "shoulder_lift_joint", |
| "elbow_joint", |
| "wrist_1_joint", |
| "wrist_2_joint", |
| "wrist_3_joint", |
| "gripper/left_finger_joint" |
| ] |
| }, |
| "observation.images.cam_center": { |
| "dtype": "video", |
| "shape": [ |
| 1024, |
| 1152, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 1024, |
| "video.width": 1152, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_left": { |
| "dtype": "video", |
| "shape": [ |
| 1024, |
| 1152, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 1024, |
| "video.width": 1152, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right": { |
| "dtype": "video", |
| "shape": [ |
| 1024, |
| 1152, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 1024, |
| "video.width": 1152, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.wrench": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "fx", |
| "fy", |
| "fz", |
| "tx", |
| "ty", |
| "tz" |
| ] |
| }, |
| "observation.tcp_pose": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "qx", |
| "qy", |
| "qz", |
| "qw" |
| ] |
| }, |
| "observation.tcp_velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "vx", |
| "vy", |
| "vz", |
| "wx", |
| "wy", |
| "wz" |
| ] |
| }, |
| "observation.tcp_error": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "ex", |
| "ey", |
| "ez", |
| "erx", |
| "ery", |
| "erz" |
| ] |
| }, |
| "observation.reference_tcp_pose": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "qx", |
| "qy", |
| "qz", |
| "qw" |
| ] |
| }, |
| "observation.target_mode": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "mode" |
| ] |
| }, |
| "observation.plug_pose": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "qx", |
| "qy", |
| "qz", |
| "qw" |
| ] |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "next.success": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "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 |
| } |
| } |
| } |
