| { |
| "codebase_version": "v2.1", |
| "fps": 50, |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ] |
| }, |
| "observation.images.front": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "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.left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "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.right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "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 |
| }, |
| "language_persistent": { |
| "dtype": "language", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "language_events": { |
| "dtype": "language", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| }, |
| "total_episodes": 40, |
| "total_frames": 159985, |
| "total_tasks": 10, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "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", |
| "robot_type": "arx5", |
| "splits": { |
| "train": "0:40" |
| }, |
| "tools": [ |
| { |
| "type": "function", |
| "function": { |
| "name": "say", |
| "description": "Speak a short utterance to the user via the TTS executor.", |
| "parameters": { |
| "type": "object", |
| "properties": { |
| "text": { |
| "type": "string", |
| "description": "The verbatim text to speak." |
| } |
| }, |
| "required": [ |
| "text" |
| ] |
| } |
| } |
| } |
| ] |
| } |
