| { |
| "codebase_version": "v3.0", |
| "robot_type": "so_follower", |
| "total_episodes": 3, |
| "total_frames": 453, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:3" |
| }, |
| "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}.mkv", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.side": { |
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| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
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| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 30, |
| "video.channels": 3, |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.front": { |
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| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
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| "video.width": 640, |
| "video.codec": "av1", |
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| "video.fps": 30, |
| "video.channels": 3, |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.intel": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 30, |
| "video.channels": 3, |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.intel_depth": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 1 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "ffv1", |
| "video.pix_fmt": "gray16le", |
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| "video.channels": 1, |
| "video.is_depth_map": true, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
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| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
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| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
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| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
