| { |
| "codebase_version": "v3.0", |
| "robot_type": "hilserl_robot", |
| "total_episodes": 20, |
| "total_frames": 1613, |
| "total_tasks": 20, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "fps": 5, |
| "splits": { |
| "train": "0:20" |
| }, |
| "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.state.joint_0": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "joint_0" |
| ] |
| }, |
| "observation.state.joint_1": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "joint_1" |
| ] |
| }, |
| "observation.state.joint_2": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "joint_2" |
| ] |
| }, |
| "observation.state.joint_3": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "joint_3" |
| ] |
| }, |
| "observation.state.joint_4": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "joint_4" |
| ] |
| }, |
| "observation.state.joint_5": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "joint_5" |
| ] |
| }, |
| "observation.state.gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "observation.images.wrist_1": { |
| "dtype": "video", |
| "shape": [ |
| 128, |
| 128, |
| 3 |
| ], |
| "info": { |
| "video.height": 128, |
| "video.width": 128, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 5, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_2": { |
| "dtype": "video", |
| "shape": [ |
| 128, |
| 128, |
| 3 |
| ], |
| "info": { |
| "video.height": 128, |
| "video.width": 128, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 5, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "action.x": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "x" |
| ] |
| }, |
| "action.y": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "y" |
| ] |
| }, |
| "action.z": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "z" |
| ] |
| }, |
| "action.roll": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "roll" |
| ] |
| }, |
| "action.pitch": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "pitch" |
| ] |
| }, |
| "action.yaw": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "yaw" |
| ] |
| }, |
| "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 |
| } |
| } |
| } |