| { |
| "codebase_version": "v3.0", |
| "robot_type": "panda", |
| "total_episodes": 300, |
| "total_frames": 196100, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "fps": 20, |
| "splits": { |
| "train": "0:300" |
| }, |
| "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": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 18 |
| ], |
| "names": [ |
| "robot0_eef_pos_x", |
| "robot0_eef_pos_y", |
| "robot0_eef_pos_z", |
| "robot0_eef_quat_x", |
| "robot0_eef_quat_y", |
| "robot0_eef_quat_z", |
| "robot0_eef_quat_w", |
| "robot0_gripper_qpos_left", |
| "robot0_gripper_qpos_right", |
| "robot1_eef_pos_x", |
| "robot1_eef_pos_y", |
| "robot1_eef_pos_z", |
| "robot1_eef_quat_x", |
| "robot1_eef_quat_y", |
| "robot1_eef_quat_z", |
| "robot1_eef_quat_w", |
| "robot1_gripper_qpos_left", |
| "robot1_gripper_qpos_right" |
| ] |
| }, |
| "observation.environment_state": { |
| "dtype": "float32", |
| "shape": [ |
| 41 |
| ], |
| "names": [ |
| "env_state_0", |
| "env_state_1", |
| "env_state_2", |
| "env_state_3", |
| "env_state_4", |
| "env_state_5", |
| "env_state_6", |
| "env_state_7", |
| "env_state_8", |
| "env_state_9", |
| "env_state_10", |
| "env_state_11", |
| "env_state_12", |
| "env_state_13", |
| "env_state_14", |
| "env_state_15", |
| "env_state_16", |
| "env_state_17", |
| "env_state_18", |
| "env_state_19", |
| "env_state_20", |
| "env_state_21", |
| "env_state_22", |
| "env_state_23", |
| "env_state_24", |
| "env_state_25", |
| "env_state_26", |
| "env_state_27", |
| "env_state_28", |
| "env_state_29", |
| "env_state_30", |
| "env_state_31", |
| "env_state_32", |
| "env_state_33", |
| "env_state_34", |
| "env_state_35", |
| "env_state_36", |
| "env_state_37", |
| "env_state_38", |
| "env_state_39", |
| "env_state_40" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "robot0_delta_eef_pos_x", |
| "robot0_delta_eef_pos_y", |
| "robot0_delta_eef_pos_z", |
| "robot0_delta_eef_rot_x", |
| "robot0_delta_eef_rot_y", |
| "robot0_delta_eef_rot_z", |
| "robot0_gripper_action", |
| "robot1_delta_eef_pos_x", |
| "robot1_delta_eef_pos_y", |
| "robot1_delta_eef_pos_z", |
| "robot1_delta_eef_rot_x", |
| "robot1_delta_eef_rot_y", |
| "robot1_delta_eef_rot_z", |
| "robot1_gripper_action" |
| ] |
| }, |
| "steps_to_go": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "steps_to_go" |
| ] |
| }, |
| "source": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "source_id" |
| ] |
| }, |
| "success": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "success_flag" |
| ] |
| }, |
| "is_valid": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "is_valid_flag" |
| ] |
| }, |
| "reward": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "reward" |
| ] |
| }, |
| "done": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "done_flag" |
| ] |
| }, |
| "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 |
| }, |
| "observation.images.agentview": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| } |
| } |
| } |