| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "xarm", | |
| "total_episodes": 1, | |
| "total_frames": 283, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:1" | |
| }, | |
| "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", | |
| "names": [ | |
| "delta_x", | |
| "delta_y", | |
| "delta_z", | |
| "delta_rx", | |
| "delta_ry", | |
| "delta_rz", | |
| "gripper" | |
| ], | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "names": [ | |
| "joint1.pos", | |
| "joint2.pos", | |
| "joint3.pos", | |
| "joint4.pos", | |
| "joint5.pos", | |
| "joint6.pos", | |
| "gripper.pos", | |
| "aa.x", | |
| "aa.y", | |
| "aa.z", | |
| "aa.rx", | |
| "aa.ry", | |
| "aa.rz", | |
| "prev.delta_x", | |
| "prev.delta_y", | |
| "prev.delta_z", | |
| "prev.delta_rx", | |
| "prev.delta_ry", | |
| "prev.delta_rz", | |
| "prev.gripper", | |
| "joint1.vel", | |
| "joint2.vel", | |
| "joint3.vel", | |
| "joint4.vel", | |
| "joint5.vel", | |
| "joint6.vel", | |
| "joint1.acc", | |
| "joint2.acc", | |
| "joint3.acc", | |
| "joint4.acc", | |
| "joint5.acc", | |
| "joint6.acc", | |
| "joint1.effort", | |
| "joint2.effort", | |
| "joint3.effort", | |
| "joint4.effort", | |
| "joint5.effort", | |
| "joint6.effort" | |
| ], | |
| "shape": [ | |
| 38 | |
| ] | |
| }, | |
| "observation.images.front": { | |
| "dtype": "video", | |
| "shape": [ | |
| 540, | |
| 960, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 540, | |
| "video.width": 960, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist": { | |
| "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.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "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 | |
| } | |
| } | |
| } |