| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "dummy_arm_inz", | |
| "fps": 10, | |
| "total_episodes": 16, | |
| "total_frames": 2969, | |
| "total_tasks": 1, | |
| "total_videos": 32, | |
| "chunks_size": 1000, | |
| "splits": { | |
| "train": "0:16" | |
| }, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "gripper_position_deg" | |
| ] | |
| }, | |
| "gripper_torque": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_torque" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "gripper" | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [] | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [] | |
| }, | |
| "timestamp": { | |
| "dtype": "float64", | |
| "shape": [] | |
| }, | |
| "clock_time": { | |
| "dtype": "float64", | |
| "shape": [] | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [] | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [] | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [] | |
| }, | |
| "task": { | |
| "dtype": "string", | |
| "shape": [] | |
| }, | |
| "observation.images.cam_head": { | |
| "dtype": "video", | |
| "shape": [ | |
| 720, | |
| 1280, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.fps": 10, | |
| "video.codec": "mp4v" | |
| } | |
| }, | |
| "observation.images.cam_wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 720, | |
| 1280, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.fps": 10, | |
| "video.codec": "mp4v" | |
| } | |
| } | |
| } | |
| } |