| { |
| "codebase_version": "v2.1", |
| "fps": 30, |
| "features": { |
| "observation.images.env": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 30, |
| "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 |
| } |
| }, |
| "observation.images.wrist": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 30, |
| "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 |
| } |
| }, |
| "observation.state": { |
| "dtype": "float64", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "position.joint_0", |
| "position.joint_1", |
| "position.joint_2", |
| "position.joint_3", |
| "position.joint_4", |
| "position.joint_5", |
| "position.left_carriage_joint" |
| ] |
| }, |
| "observation.effort": { |
| "dtype": "float64", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "effort.joint_0", |
| "effort.joint_1", |
| "effort.joint_2", |
| "effort.joint_3", |
| "effort.joint_4", |
| "effort.joint_5", |
| "effort.left_carriage_joint" |
| ] |
| }, |
| "action": { |
| "dtype": "float64", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "arm_controller.position.joint_0", |
| "arm_controller.position.joint_1", |
| "arm_controller.position.joint_2", |
| "arm_controller.position.joint_3", |
| "arm_controller.position.joint_4", |
| "arm_controller.position.joint_5", |
| "gripper_controller.gripper" |
| ] |
| }, |
| "is_first": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "is_last": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "is_terminal": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "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 |
| } |
| }, |
| "total_episodes": 30, |
| "total_frames": 90743, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "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": "widowxai", |
| "splits": { |
| "train": "0:30" |
| }, |
| "total_chunks": 1, |
| "total_videos": 60 |
| } |
|
|
