| { |
| "codebase_version": "v3.0", |
| "robot_type": "walkerS2", |
| "total_episodes": 3000, |
| "total_frames": 1908000, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:3000" |
| }, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "L_shoulder_pitch_joint.pos", |
| "L_shoulder_roll_joint.pos", |
| "L_shoulder_yaw_joint.pos", |
| "L_elbow_roll_joint.pos", |
| "L_elbow_yaw_joint.pos", |
| "L_wrist_pitch_joint.pos", |
| "L_wrist_roll_joint.pos", |
| "R_shoulder_pitch_joint.pos", |
| "R_shoulder_roll_joint.pos", |
| "R_shoulder_yaw_joint.pos", |
| "R_elbow_roll_joint.pos", |
| "R_elbow_yaw_joint.pos", |
| "R_wrist_pitch_joint.pos", |
| "R_wrist_roll_joint.pos", |
| "L_finger1_joint.pos", |
| "L_finger2_joint.pos", |
| "R_finger1_joint.pos", |
| "R_finger2_joint.pos", |
| "left_gripper", |
| "right_gripper" |
| ], |
| "shape": [ |
| 20 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "L_shoulder_pitch_joint.pos", |
| "L_shoulder_roll_joint.pos", |
| "L_shoulder_yaw_joint.pos", |
| "L_elbow_roll_joint.pos", |
| "L_elbow_yaw_joint.pos", |
| "L_wrist_pitch_joint.pos", |
| "L_wrist_roll_joint.pos", |
| "R_shoulder_pitch_joint.pos", |
| "R_shoulder_roll_joint.pos", |
| "R_shoulder_yaw_joint.pos", |
| "R_elbow_roll_joint.pos", |
| "R_elbow_yaw_joint.pos", |
| "R_wrist_pitch_joint.pos", |
| "R_wrist_roll_joint.pos", |
| "L_finger1_joint.pos", |
| "L_finger2_joint.pos", |
| "R_finger1_joint.pos", |
| "R_finger2_joint.pos", |
| "left_gripper", |
| "right_gripper", |
| "object_1_x", |
| "object_1_y", |
| "object_1_z", |
| "object_1_qx", |
| "object_1_qy", |
| "object_1_qz", |
| "object_1_qw", |
| "object_2_x", |
| "object_2_y", |
| "object_2_z", |
| "object_2_qx", |
| "object_2_qy", |
| "object_2_qz", |
| "object_2_qw", |
| "object_3_x", |
| "object_3_y", |
| "object_3_z", |
| "object_3_qx", |
| "object_3_qy", |
| "object_3_qz", |
| "object_3_qw", |
| "object_4_x", |
| "object_4_y", |
| "object_4_z", |
| "object_4_qx", |
| "object_4_qy", |
| "object_4_qz", |
| "object_4_qw" |
| ], |
| "shape": [ |
| 48 |
| ] |
| }, |
| "observation.images.head_left": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.head_right": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_left": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_right": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "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 |
| } |
| } |
| } |
