| { | |
| "codebase_version": "v3.0", | |
| "fps": 30, | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 54 | |
| ], | |
| "names": [ | |
| "Joint1_L", | |
| "Joint2_L", | |
| "Joint3_L", | |
| "Joint4_L", | |
| "Joint5_L", | |
| "Joint6_L", | |
| "Joint7_L", | |
| "Joint1_R", | |
| "Joint2_R", | |
| "Joint3_R", | |
| "Joint4_R", | |
| "Joint5_R", | |
| "Joint6_R", | |
| "Joint7_R", | |
| "left_finger1_joint1", | |
| "left_finger1_joint2", | |
| "left_finger1_joint3", | |
| "left_finger1_joint4", | |
| "left_finger2_joint1", | |
| "left_finger2_joint2", | |
| "left_finger2_joint3", | |
| "left_finger2_joint4", | |
| "left_finger3_joint1", | |
| "left_finger3_joint2", | |
| "left_finger3_joint3", | |
| "left_finger3_joint4", | |
| "left_finger4_joint1", | |
| "left_finger4_joint2", | |
| "left_finger4_joint3", | |
| "left_finger4_joint4", | |
| "left_finger5_joint1", | |
| "left_finger5_joint2", | |
| "left_finger5_joint3", | |
| "left_finger5_joint4", | |
| "right_finger1_joint1", | |
| "right_finger1_joint2", | |
| "right_finger1_joint3", | |
| "right_finger1_joint4", | |
| "right_finger2_joint1", | |
| "right_finger2_joint2", | |
| "right_finger2_joint3", | |
| "right_finger2_joint4", | |
| "right_finger3_joint1", | |
| "right_finger3_joint2", | |
| "right_finger3_joint3", | |
| "right_finger3_joint4", | |
| "right_finger4_joint1", | |
| "right_finger4_joint2", | |
| "right_finger4_joint3", | |
| "right_finger4_joint4", | |
| "right_finger5_joint1", | |
| "right_finger5_joint2", | |
| "right_finger5_joint3", | |
| "right_finger5_joint4" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 54 | |
| ], | |
| "names": [ | |
| "Joint1_L", | |
| "Joint2_L", | |
| "Joint3_L", | |
| "Joint4_L", | |
| "Joint5_L", | |
| "Joint6_L", | |
| "Joint7_L", | |
| "Joint1_R", | |
| "Joint2_R", | |
| "Joint3_R", | |
| "Joint4_R", | |
| "Joint5_R", | |
| "Joint6_R", | |
| "Joint7_R", | |
| "left_finger1_joint1", | |
| "left_finger1_joint2", | |
| "left_finger1_joint3", | |
| "left_finger1_joint4", | |
| "left_finger2_joint1", | |
| "left_finger2_joint2", | |
| "left_finger2_joint3", | |
| "left_finger2_joint4", | |
| "left_finger3_joint1", | |
| "left_finger3_joint2", | |
| "left_finger3_joint3", | |
| "left_finger3_joint4", | |
| "left_finger4_joint1", | |
| "left_finger4_joint2", | |
| "left_finger4_joint3", | |
| "left_finger4_joint4", | |
| "left_finger5_joint1", | |
| "left_finger5_joint2", | |
| "left_finger5_joint3", | |
| "left_finger5_joint4", | |
| "right_finger1_joint1", | |
| "right_finger1_joint2", | |
| "right_finger1_joint3", | |
| "right_finger1_joint4", | |
| "right_finger2_joint1", | |
| "right_finger2_joint2", | |
| "right_finger2_joint3", | |
| "right_finger2_joint4", | |
| "right_finger3_joint1", | |
| "right_finger3_joint2", | |
| "right_finger3_joint3", | |
| "right_finger3_joint4", | |
| "right_finger4_joint1", | |
| "right_finger4_joint2", | |
| "right_finger4_joint3", | |
| "right_finger4_joint4", | |
| "right_finger5_joint1", | |
| "right_finger5_joint2", | |
| "right_finger5_joint3", | |
| "right_finger5_joint4" | |
| ] | |
| }, | |
| "observation.velocity": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 54 | |
| ], | |
| "names": [ | |
| "Joint1_L", | |
| "Joint2_L", | |
| "Joint3_L", | |
| "Joint4_L", | |
| "Joint5_L", | |
| "Joint6_L", | |
| "Joint7_L", | |
| "Joint1_R", | |
| "Joint2_R", | |
| "Joint3_R", | |
| "Joint4_R", | |
| "Joint5_R", | |
| "Joint6_R", | |
| "Joint7_R", | |
| "left_finger1_joint1", | |
| "left_finger1_joint2", | |
| "left_finger1_joint3", | |
| "left_finger1_joint4", | |
| "left_finger2_joint1", | |
| "left_finger2_joint2", | |
| "left_finger2_joint3", | |
| "left_finger2_joint4", | |
| "left_finger3_joint1", | |
| "left_finger3_joint2", | |
| "left_finger3_joint3", | |
| "left_finger3_joint4", | |
| "left_finger4_joint1", | |
| "left_finger4_joint2", | |
| "left_finger4_joint3", | |
| "left_finger4_joint4", | |
| "left_finger5_joint1", | |
| "left_finger5_joint2", | |
| "left_finger5_joint3", | |
| "left_finger5_joint4", | |
| "right_finger1_joint1", | |
| "right_finger1_joint2", | |
| "right_finger1_joint3", | |
| "right_finger1_joint4", | |
| "right_finger2_joint1", | |
| "right_finger2_joint2", | |
| "right_finger2_joint3", | |
| "right_finger2_joint4", | |
| "right_finger3_joint1", | |
| "right_finger3_joint2", | |
| "right_finger3_joint3", | |
| "right_finger3_joint4", | |
| "right_finger4_joint1", | |
| "right_finger4_joint2", | |
| "right_finger4_joint3", | |
| "right_finger4_joint4", | |
| "right_finger5_joint1", | |
| "right_finger5_joint2", | |
| "right_finger5_joint3", | |
| "right_finger5_joint4" | |
| ] | |
| }, | |
| "observation.images.top": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false, | |
| "video.g": 2, | |
| "video.crf": 12, | |
| "video.preset": null, | |
| "video.fast_decode": 0, | |
| "video.video_backend": "pyav", | |
| "video.extra_options": {}, | |
| "is_depth_map": false | |
| } | |
| }, | |
| "observation.images.wrist_L": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false, | |
| "video.g": 2, | |
| "video.crf": 12, | |
| "video.preset": null, | |
| "video.fast_decode": 0, | |
| "video.video_backend": "pyav", | |
| "video.extra_options": {}, | |
| "is_depth_map": false | |
| } | |
| }, | |
| "observation.images.wrist_R": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false, | |
| "video.g": 2, | |
| "video.crf": 12, | |
| "video.preset": null, | |
| "video.fast_decode": 0, | |
| "video.video_backend": "pyav", | |
| "video.extra_options": {}, | |
| "is_depth_map": 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 | |
| } | |
| }, | |
| "total_episodes": 100, | |
| "total_frames": 63702, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "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", | |
| "robot_type": "marvin", | |
| "splits": { | |
| "train": "0:100" | |
| } | |
| } | |