| { | |
| "codebase_version": "2.1", | |
| "robot_type": "mixed", | |
| "total_episodes": 8949, | |
| "total_frames": 3436171, | |
| "total_tasks": 246, | |
| "total_videos": 8949, | |
| "total_chunks": 9, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_path": "videos/chunk-{episode_chunk:03d}/egocentric/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "observation.images.egocentric": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.depth.egocentric": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "height", | |
| "width" | |
| ] | |
| }, | |
| "observation.lidar": { | |
| "dtype": "float32", | |
| "shape": [ | |
| -1, | |
| 3 | |
| ] | |
| }, | |
| "observation.imu.quaternion": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "observation.imu.accelerometer": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.imu.gyroscope": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.imu.rpy": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.odometry.position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.odometry.velocity": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.odometry.rpy": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.odometry.quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "observation.arm_joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| -1 | |
| ] | |
| }, | |
| "observation.leg_joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| -1 | |
| ] | |
| }, | |
| "observation.hand_joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| -1 | |
| ] | |
| }, | |
| "observation.tactile.sensor_id": { | |
| "dtype": "int64", | |
| "shape": [ | |
| -1 | |
| ] | |
| }, | |
| "observation.tactile.values": { | |
| "dtype": "float32", | |
| "shape": [ | |
| -1, | |
| -1 | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| -1 | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| } | |
| } | |
| } |