| { |
| "codebase_version": "v3.0", |
| "robot_type": "stackcube", |
| "total_episodes": 50, |
| "total_frames": 5797, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "splits": { |
| "train": "0:50" |
| }, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "action_0", |
| "action_1", |
| "action_2", |
| "action_3" |
| ], |
| "fps": 30.0 |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "qpos_0", |
| "qpos_1", |
| "qpos_2", |
| "qpos_3", |
| "qpos_4", |
| "qpos_5", |
| "qpos_6", |
| "qpos_7", |
| "qpos_8", |
| "tcp_pose_0", |
| "tcp_pose_1", |
| "tcp_pose_2", |
| "tcp_pose_3", |
| "tcp_pose_4", |
| "tcp_pose_5", |
| "tcp_pose_6" |
| ], |
| "fps": 30.0 |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30.0 |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30.0 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30.0 |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30.0 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30.0 |
| }, |
| "task": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30.0 |
| }, |
| "observation.images.base_camera": { |
| "dtype": "video", |
| "shape": [ |
| 128, |
| 128, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30.0, |
| "video.height": 128, |
| "video.width": 128, |
| "video.channels": 3, |
| "video.codec": "mp4v", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.hand_camera": { |
| "dtype": "video", |
| "shape": [ |
| 128, |
| 128, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30.0, |
| "video.height": 128, |
| "video.width": 128, |
| "video.channels": 3, |
| "video.codec": "mp4v", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.masks.base_camera": { |
| "dtype": "image", |
| "shape": [ |
| 128, |
| 128, |
| 1 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "image.height": 128, |
| "image.width": 128, |
| "image.channels": 1, |
| "mask.storage": "episode_npz" |
| } |
| }, |
| "observation.masks.hand_camera": { |
| "dtype": "image", |
| "shape": [ |
| 128, |
| 128, |
| 1 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "image.height": 128, |
| "image.width": 128, |
| "image.channels": 1, |
| "mask.storage": "episode_npz" |
| } |
| } |
| }, |
| "mask_path": "{image_key}/episode_{episode_index:06d}.npz" |
| } |
