| { |
| "codebase_version": "v3.0", |
| "fps": 25, |
| "features": { |
| "observation.images.left": { |
| "dtype": "video", |
| "shape": [ |
| 400, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 400, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 25, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.images.right": { |
| "dtype": "video", |
| "shape": [ |
| 400, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 400, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 25, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.images.third_eye": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 25, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 28 |
| ], |
| "names": [ |
| "left.tcp.x", |
| "left.tcp.y", |
| "left.tcp.z", |
| "left.tcp.qx", |
| "left.tcp.qy", |
| "left.tcp.qz", |
| "left.tcp.qw", |
| "left.left_s0", |
| "left.left_s1", |
| "left.left_e0", |
| "left.left_e1", |
| "left.left_w0", |
| "left.left_w1", |
| "left.left_w2", |
| "right.tcp.x", |
| "right.tcp.y", |
| "right.tcp.z", |
| "right.tcp.qx", |
| "right.tcp.qy", |
| "right.tcp.qz", |
| "right.tcp.qw", |
| "right.right_s0", |
| "right.right_s1", |
| "right.right_e0", |
| "right.right_e1", |
| "right.right_w0", |
| "right.right_w1", |
| "right.right_w2" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "left.goal.x", |
| "left.goal.y", |
| "left.goal.z", |
| "left.goal.qx", |
| "left.goal.qy", |
| "left.goal.qz", |
| "left.goal.qw", |
| "right.goal.x", |
| "right.goal.y", |
| "right.goal.z", |
| "right.goal.qx", |
| "right.goal.qy", |
| "right.goal.qz", |
| "right.goal.qw" |
| ] |
| }, |
| "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 |
| } |
| }, |
| "total_episodes": 56, |
| "total_frames": 81017, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "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", |
| "robot_type": "baxter", |
| "splits": { |
| "train": "0:56" |
| } |
| } |
