| { |
| "codebase_version": "v3.0", |
| "robot_type": "ur5", |
| "total_episodes": 1, |
| "total_frames": 2261, |
| "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": { |
| "observation.images.cam_1": { |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_2": { |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_3": { |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "raw_state.joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "raw_state.eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "raw_state.eef_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "rot1", |
| "rot2", |
| "rot3", |
| "rot4", |
| "rot5", |
| "rot6" |
| ] |
| }, |
| "raw_state.gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "width_m" |
| ] |
| }, |
| "state.joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "state.eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "state.eef_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "rot1", |
| "rot2", |
| "rot3", |
| "rot4", |
| "rot5", |
| "rot6" |
| ] |
| }, |
| "state.gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "debug.gripper_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "debug.gripper_eef_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "rot1", |
| "rot2", |
| "rot3", |
| "rot4", |
| "rot5", |
| "rot6" |
| ] |
| }, |
| "success": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "success" |
| ] |
| }, |
| "score": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "score" |
| ] |
| }, |
| "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 |
| } |
| } |
| } |