| { |
| "codebase_version": "v2.1", |
| "robot_type": "ur5e_aic", |
| "total_episodes": 5, |
| "total_frames": 3370, |
| "fps": 20, |
| "splits": { |
| "train": "0:5" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": "videos/chunk-{chunk_index:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 31 |
| ], |
| "names": [ |
| "tcp_pose.position.x", |
| "tcp_pose.position.y", |
| "tcp_pose.position.z", |
| "tcp_pose.orientation.x", |
| "tcp_pose.orientation.y", |
| "tcp_pose.orientation.z", |
| "tcp_pose.orientation.w", |
| "tcp_velocity.linear.x", |
| "tcp_velocity.linear.y", |
| "tcp_velocity.linear.z", |
| "tcp_velocity.angular.x", |
| "tcp_velocity.angular.y", |
| "tcp_velocity.angular.z", |
| "tcp_error.x", |
| "tcp_error.y", |
| "tcp_error.z", |
| "tcp_error.rx", |
| "tcp_error.ry", |
| "tcp_error.rz", |
| "joint_positions.0", |
| "joint_positions.1", |
| "joint_positions.2", |
| "joint_positions.3", |
| "joint_positions.4", |
| "joint_positions.5", |
| "wrench.force.x", |
| "wrench.force.y", |
| "wrench.force.z", |
| "wrench.torque.x", |
| "wrench.torque.y", |
| "wrench.torque.z" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "pose.position.x", |
| "pose.position.y", |
| "pose.position.z", |
| "pose.orientation.x", |
| "pose.orientation.y", |
| "pose.orientation.z", |
| "pose.orientation.w" |
| ] |
| }, |
| "observation.images.left_camera": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 288, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "video_info": { |
| "video.fps": 20, |
| "video.height": 256, |
| "video.width": 288, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "has_audio": false |
| } |
| }, |
| "observation.images.center_camera": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 288, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "video_info": { |
| "video.fps": 20, |
| "video.height": 256, |
| "video.width": 288, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_camera": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 288, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "video_info": { |
| "video.fps": 20, |
| "video.height": 256, |
| "video.width": 288, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "task": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ] |
| } |
| } |
| } |
