| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "sim_r1_lite", | |
| "total_episodes": 100, | |
| "total_frames": 21700, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:100" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": null, | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 17 | |
| ], | |
| "names": [ | |
| "left_arm_joint1", | |
| "left_arm_joint2", | |
| "left_arm_joint3", | |
| "left_arm_joint4", | |
| "left_arm_joint5", | |
| "left_arm_joint6", | |
| "right_arm_joint1", | |
| "right_arm_joint2", | |
| "right_arm_joint3", | |
| "right_arm_joint4", | |
| "right_arm_joint5", | |
| "right_arm_joint6", | |
| "left_gripper", | |
| "right_gripper", | |
| "base_x", | |
| "base_y", | |
| "base_theta" | |
| ] | |
| }, | |
| "observation.images.head_left_rgb": { | |
| "dtype": "image", | |
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| 640, | |
| 1080, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.images.left_wrist_rgb": { | |
| "dtype": "image", | |
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| 640, | |
| 1080, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 17 | |
| ], | |
| "names": [ | |
| "left_arm_joint1", | |
| "left_arm_joint2", | |
| "left_arm_joint3", | |
| "left_arm_joint4", | |
| "left_arm_joint5", | |
| "left_arm_joint6", | |
| "right_arm_joint1", | |
| "right_arm_joint2", | |
| "right_arm_joint3", | |
| "right_arm_joint4", | |
| "right_arm_joint5", | |
| "right_arm_joint6", | |
| "left_gripper", | |
| "right_gripper", | |
| "base_x", | |
| "base_y", | |
| "base_theta" | |
| ] | |
| }, | |
| "timestamp": { | |
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| ], | |
| "names": null | |
| }, | |
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| }, | |
| "episode_index": { | |
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| "names": null | |
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| "names": null | |
| }, | |
| "task_index": { | |
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| ], | |
| "names": null | |
| } | |
| } | |
| } |