| { | |
| "codebase_version": "v3.0", | |
| "fps": 50, | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 43 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "joint_7", | |
| "joint_8", | |
| "joint_9", | |
| "joint_10", | |
| "joint_11", | |
| "joint_12", | |
| "joint_13", | |
| "joint_14", | |
| "joint_15", | |
| "joint_16", | |
| "joint_17", | |
| "joint_18", | |
| "joint_19", | |
| "joint_20", | |
| "joint_21", | |
| "joint_22", | |
| "joint_23", | |
| "joint_24", | |
| "joint_25", | |
| "joint_26", | |
| "joint_27", | |
| "joint_28", | |
| "joint_29", | |
| "joint_30", | |
| "joint_31", | |
| "joint_32", | |
| "joint_33", | |
| "joint_34", | |
| "joint_35", | |
| "joint_36", | |
| "joint_37", | |
| "joint_38", | |
| "joint_39", | |
| "joint_40", | |
| "joint_41", | |
| "joint_42" | |
| ] | |
| }, | |
| "observation.images.robot_pov_cam": { | |
| "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": 50, | |
| "video.channels": 3, | |
| "has_audio": false, | |
| "video.g": 2, | |
| "video.crf": 30, | |
| "video.preset": 12, | |
| "video.fast_decode": 0, | |
| "video.video_backend": "pyav", | |
| "video.extra_options": {}, | |
| "is_depth_map": false | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 23 | |
| ], | |
| "names": [ | |
| "action_0", | |
| "action_1", | |
| "action_2", | |
| "action_3", | |
| "action_4", | |
| "action_5", | |
| "action_6", | |
| "action_7", | |
| "action_8", | |
| "action_9", | |
| "action_10", | |
| "action_11", | |
| "action_12", | |
| "action_13", | |
| "action_14", | |
| "action_15", | |
| "action_16", | |
| "action_17", | |
| "action_18", | |
| "action_19", | |
| "action_20", | |
| "action_21", | |
| "action_22" | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| }, | |
| "total_episodes": 1, | |
| "total_frames": 853, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "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", | |
| "robot_type": "unitree_g1", | |
| "splits": { | |
| "train": "0:1" | |
| } | |
| } |