| { |
| "codebase_version": "v2.1", |
| "robot_type": "aloha-agilex", |
| "total_episodes": 50, |
| "total_frames": 33512, |
| "total_tasks": 1, |
| "total_videos": 250, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 50, |
| "splits": { |
| "train": "0:50" |
| }, |
| "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": [ |
| 14 |
| ], |
| "names": { |
| "motors": [ |
| "left_joint_0", |
| "left_joint_1", |
| "left_joint_2", |
| "left_joint_3", |
| "left_joint_4", |
| "left_joint_5", |
| "left_gripper", |
| "right_joint_0", |
| "right_joint_1", |
| "right_joint_2", |
| "right_joint_3", |
| "right_joint_4", |
| "right_joint_5", |
| "right_gripper" |
| ] |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": { |
| "motors": [ |
| "left_joint_0", |
| "left_joint_1", |
| "left_joint_2", |
| "left_joint_3", |
| "left_joint_4", |
| "left_joint_5", |
| "left_gripper", |
| "right_joint_0", |
| "right_joint_1", |
| "right_joint_2", |
| "right_joint_3", |
| "right_joint_4", |
| "right_joint_5", |
| "right_gripper" |
| ] |
| } |
| }, |
| "observation.states.left_endpose": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": { |
| "motors": [ |
| "x", |
| "y", |
| "z", |
| "qw", |
| "qx", |
| "qy", |
| "qz" |
| ] |
| } |
| }, |
| "observation.states.left_gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": { |
| "motors": [ |
| "gripper" |
| ] |
| } |
| }, |
| "observation.states.right_endpose": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": { |
| "motors": [ |
| "x", |
| "y", |
| "z", |
| "qw", |
| "qx", |
| "qy", |
| "qz" |
| ] |
| } |
| }, |
| "observation.states.right_gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": { |
| "motors": [ |
| "gripper" |
| ] |
| } |
| }, |
| "observation.images.head_camera_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 240, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 50, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.front_camera_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 240, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 50, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.left_camera_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 240, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 50, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_camera_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 240, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 50, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.third_view_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 240, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 50, |
| "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 |
| } |
| } |
| } |
