| { | |
| "codebase_version": "v2.0", | |
| "total_episodes": 202, | |
| "total_frames": 172438, | |
| "fps": 30, | |
| "camera_keys": [ | |
| "observation.images.cv", | |
| "observation.images.main", | |
| "observation.images.webcam" | |
| ], | |
| "video": true, | |
| "chunks_size": 1000, | |
| "data_path": "data/episode_{episode_index}.parquet", | |
| "video_path": "videos/{video_key}/episode_{episode_index}.mp4", | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 12 | |
| ], | |
| "names": [ | |
| "main_shoulder_pan", | |
| "main_shoulder_lift", | |
| "main_elbow_flex", | |
| "main_wrist_flex", | |
| "main_wrist_roll", | |
| "main_gripper", | |
| "cv_shoulder_pan", | |
| "cv_shoulder_lift", | |
| "cv_elbow_flex", | |
| "cv_wrist_flex", | |
| "cv_wrist_roll", | |
| "cv_gripper" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
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| 12 | |
| ], | |
| "names": [ | |
| "main_shoulder_pan", | |
| "main_shoulder_lift", | |
| "main_elbow_flex", | |
| "main_wrist_flex", | |
| "main_wrist_roll", | |
| "main_gripper", | |
| "cv_shoulder_pan", | |
| "cv_shoulder_lift", | |
| "cv_elbow_flex", | |
| "cv_wrist_flex", | |
| "cv_wrist_roll", | |
| "cv_gripper" | |
| ] | |
| }, | |
| "observation.images.main": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cv": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.webcam": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
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| "names": null | |
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| "episode_index": { | |
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| "names": null | |
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| "index": { | |
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| "task_index": { | |
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| "names": null | |
| } | |
| }, | |
| "splits": { | |
| "train": "0:162", | |
| "val": "162:182", | |
| "test": "182:202" | |
| } | |
| } |