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| "codebase_version": "v3.0", | |
| "robot_type": "droid", | |
| "total_episodes": 1, | |
| "total_frames": 166, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:1" | |
| }, | |
| "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": { | |
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| "dtype": "video", | |
| "shape": [ | |
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| 320, | |
| 3 | |
| ], | |
| "names": [ | |
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| "width", | |
| "channels" | |
| ], | |
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| "video.width": 320, | |
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| } | |
| }, | |
| "observation.images.exterior_image_1_left": { | |
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| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
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| "has_audio": false | |
| } | |
| }, | |
| "observation.images.exterior_image_2_left": { | |
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| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.width": 320, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state.gripper_position": { | |
| "dtype": "float32", | |
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| 1 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "gripper" | |
| ] | |
| }, | |
| "fps": 10 | |
| }, | |
| "observation.state.cartesian_position": { | |
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| 6 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "fps": 10 | |
| }, | |
| "observation.state.joint_position": { | |
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| 7 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ] | |
| }, | |
| "fps": 10 | |
| }, | |
| "action": { | |
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| ], | |
| "names": { | |
| "motors": [ | |
| "joint_vel_0", | |
| "joint_vel_1", | |
| "joint_vel_2", | |
| "joint_vel_3", | |
| "joint_vel_4", | |
| "joint_vel_5", | |
| "gripper_pos" | |
| ] | |
| }, | |
| "fps": 10 | |
| }, | |
| "language_instruction": { | |
| "dtype": "string", | |
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| ], | |
| "names": null, | |
| "fps": 10 | |
| }, | |
| "language_instruction_2": { | |
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| }, | |
| "language_instruction_3": { | |
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| "names": null, | |
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| }, | |
| "next.reward": { | |
| "dtype": "float32", | |
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| }, | |
| "discount": { | |
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| "names": null, | |
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| }, | |
| "timestamp": { | |
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| "names": null, | |
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| }, | |
| "frame_index": { | |
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| "names": null, | |
| "fps": 10 | |
| }, | |
| "episode_index": { | |
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| }, | |
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| "fps": 10 | |
| } | |
| }, | |
| "repo_id": "droid_1", | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500 | |
| } |