| { |
| "codebase_version": "v2.1", |
| "robot_type": "panda", |
| "total_episodes": 30, |
| "total_frames": 2040, |
| "total_tasks": 1, |
| "total_videos": 60, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 10, |
| "splits": { |
| "train": "0:30" |
| }, |
| "data_path": "data/train/episode_{episode_index:06d}.parquet", |
| "video_path": "videos/chunk-{chunk_index:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": { |
| "joints": [ |
| "panda_joint1", |
| "panda_joint2", |
| "panda_joint3", |
| "panda_joint4", |
| "panda_joint5", |
| "panda_joint6", |
| "panda_joint7", |
| "panda_finger_joint1", |
| "panda_finger_joint2" |
| ] |
| } |
| }, |
| "observation.images.top": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 10.0, |
| "video.codec": "mp4v", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false |
| } |
| }, |
| "observation.images.wrist": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 10.0, |
| "video.codec": "mp4v", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": { |
| "joints": [ |
| "panda_joint1", |
| "panda_joint2", |
| "panda_joint3", |
| "panda_joint4", |
| "panda_joint5", |
| "panda_joint6", |
| "panda_joint7", |
| "panda_finger_joint1", |
| "panda_finger_joint2" |
| ] |
| } |
| }, |
| "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 |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
