| { |
| "codebase_version": "v2.1", |
| "robot_type": "dvrk", |
| "total_episodes": 317, |
| "total_frames": 102187, |
| "total_tasks": 5, |
| "total_videos": 1268, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:207", |
| "val": "207:237", |
| "test": "237:296", |
| "recovery": "296:315", |
| "failure": "315:317" |
| }, |
| "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.left_arm_cartesian": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "observation.state.left_arm_cartesian" |
| ] |
| }, |
| "observation.state.right_arm_cartesian": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "observation.state.right_arm_cartesian" |
| ] |
| }, |
| "observation.state.left_arm_joint": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "observation.state.left_arm_joint" |
| ] |
| }, |
| "observation.state.right_arm_joint": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "observation.state.right_arm_joint" |
| ] |
| }, |
| "observation.images.color": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 848, |
| 3 |
| ], |
| "names": [ |
| "observation.images.color" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 848, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.depth": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 848, |
| 3 |
| ], |
| "names": [ |
| "observation.images.depth" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 848, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_left": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "observation.images.wrist_left" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_right": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "observation.images.wrist_right" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.meta.left_arm_tpv_cali_mtx": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "observation.meta.left_arm_tpv_cali_mtx" |
| ] |
| }, |
| "observation.meta.right_arm_tpv_cali_mtx": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "observation.meta.right_arm_tpv_cali_mtx" |
| ] |
| }, |
| "observation.meta.left_arm_tool": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "observation.meta.left_arm_tool" |
| ] |
| }, |
| "observation.meta.right_arm_tool": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "observation.meta.right_arm_tool" |
| ] |
| }, |
| "action.cartesian_absolute": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "action.cartesian_absolute" |
| ] |
| }, |
| "action.joint_positions": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "action.joint_positions" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "observation.state" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "action.cartesian_absolute" |
| ] |
| }, |
| "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 |
| } |
| } |
| } |