| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "ur5e", | |
| "total_episodes": 3, | |
| "total_frames": 150, | |
| "total_tasks": 1, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:3" | |
| }, | |
| "data_path": "data/episode_{episode_index:06d}.parquet", | |
| "video_path": "videos/{video_key}/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "observation.images.image": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "rgb" | |
| ], | |
| "info": { | |
| "video.fps": 10, | |
| "video.height": 256, | |
| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p" | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "shoulder_pan", | |
| "shoulder_lift", | |
| "elbow", | |
| "wrist_1", | |
| "wrist_2", | |
| "wrist_3" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "a1", | |
| "a2", | |
| "a3", | |
| "a4", | |
| "a5", | |
| "a6" | |
| ] | |
| } | |
| } | |
| } |