| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "realman_end_effector", | |
| "total_episodes": 0, | |
| "total_frames": 0, | |
| "total_tasks": 0, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": {}, | |
| "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", | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "delta_x", | |
| "delta_y", | |
| "delta_z", | |
| "delta_rx", | |
| "delta_ry", | |
| "delta_rz", | |
| "gripper" | |
| ], | |
| "fps": 30 | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "x_pos", | |
| "y_pos", | |
| "z_pos", | |
| "rx_pos", | |
| "ry_pos", | |
| "rz_pos", | |
| "gripper_pos" | |
| ], | |
| "fps": 30 | |
| }, | |
| "observation.images.left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
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| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| } | |
| }, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200 | |
| } |