| { | |
| "codebase_version": "v3.0", | |
| "robot_type": null, | |
| "total_episodes": 60, | |
| "total_frames": 8586, | |
| "total_tasks": 6, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 20, | |
| "splits": { | |
| "train": "0:60" | |
| }, | |
| "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": { | |
| "reward": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation.state.joint_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "l1", | |
| "l2", | |
| "l3", | |
| "l4", | |
| "l5", | |
| "l6", | |
| "l_gripper", | |
| "r1", | |
| "r2", | |
| "r3", | |
| "r4", | |
| "r5", | |
| "r6", | |
| "r_gripper" | |
| ] | |
| } | |
| }, | |
| "observation.state.ee_6d_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 20 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "lx", | |
| "ly", | |
| "lz", | |
| "l_c1x", | |
| "l_c1y", | |
| "l_c1z", | |
| "l_c2x", | |
| "l_c2y", | |
| "l_c2z", | |
| "l_gripper", | |
| "rx", | |
| "ry", | |
| "rz", | |
| "r_c1x", | |
| "r_c1y", | |
| "r_c1z", | |
| "r_c2x", | |
| "r_c2y", | |
| "r_c2z", | |
| "r_gripper" | |
| ] | |
| } | |
| }, | |
| "observation.state.ee_quat_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 16 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "lx", | |
| "ly", | |
| "lz", | |
| "l_qx", | |
| "l_qy", | |
| "l_qz", | |
| "l_qw", | |
| "l_gripper", | |
| "rx", | |
| "ry", | |
| "rz", | |
| "r_qx", | |
| "r_qy", | |
| "r_qz", | |
| "r_qw", | |
| "r_gripper" | |
| ] | |
| } | |
| }, | |
| "observation.images.agentview": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 20.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 240, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 20.0, | |
| "video.height": 240, | |
| "video.width": 320, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_right": { | |
| "dtype": "video", | |
| "shape": [ | |
| 240, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 20.0, | |
| "video.height": 240, | |
| "video.width": 320, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "action.joint_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "l1", | |
| "l2", | |
| "l3", | |
| "l4", | |
| "l5", | |
| "l6", | |
| "l_gripper", | |
| "r1", | |
| "r2", | |
| "r3", | |
| "r4", | |
| "r5", | |
| "r6", | |
| "r_gripper" | |
| ] | |
| } | |
| }, | |
| "action.ee_6d_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 20 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "lx", | |
| "ly", | |
| "lz", | |
| "l_c1x", | |
| "l_c1y", | |
| "l_c1z", | |
| "l_c2x", | |
| "l_c2y", | |
| "l_c2z", | |
| "l_gripper", | |
| "rx", | |
| "ry", | |
| "rz", | |
| "r_c1x", | |
| "r_c1y", | |
| "r_c1z", | |
| "r_c2x", | |
| "r_c2y", | |
| "r_c2z", | |
| "r_gripper" | |
| ] | |
| } | |
| }, | |
| "action.ee_quat_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 16 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "lx", | |
| "ly", | |
| "lz", | |
| "l_qx", | |
| "l_qy", | |
| "l_qz", | |
| "l_qw", | |
| "l_gripper", | |
| "rx", | |
| "ry", | |
| "rz", | |
| "r_qx", | |
| "r_qy", | |
| "r_qz", | |
| "r_qw", | |
| "r_gripper" | |
| ] | |
| } | |
| }, | |
| "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 | |
| } | |
| } | |
| } |