| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "simulation_ur5e", | |
| "total_episodes": 3, | |
| "total_frames": 352, | |
| "total_tasks": 1, | |
| "total_videos": 9, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 25, | |
| "splits": { | |
| "train": "0:3" | |
| }, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "observation.state.pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.state.gripper": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper" | |
| ] | |
| }, | |
| "observation.state.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "base", | |
| "shoulder", | |
| "elbow", | |
| "wrist1", | |
| "wrist2", | |
| "wrist3" | |
| ] | |
| }, | |
| "observation.images.side": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 25, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 25, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_right": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 25, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.timestamps": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ], | |
| "names": [ | |
| "robot", | |
| "camera_side", | |
| "camera_wrist_left", | |
| "camera_wrist_right" | |
| ] | |
| }, | |
| "action.pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "dx", | |
| "dy", | |
| "dz", | |
| "droll", | |
| "dpitch", | |
| "dyaw" | |
| ] | |
| }, | |
| "action.gripper": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper" | |
| ] | |
| }, | |
| "action.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "base", | |
| "shoulder", | |
| "elbow", | |
| "wrist1", | |
| "wrist2", | |
| "wrist3" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |