| { | |
| "codebase_version": "v2.1", | |
| "robot_type": null, | |
| "total_episodes": 47, | |
| "total_frames": 4966, | |
| "total_tasks": 1, | |
| "total_videos": 141, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:47" | |
| }, | |
| "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": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 32 | |
| ], | |
| "names": [ | |
| "tcp_left_pos_x", | |
| "tcp_left_pos_y", | |
| "tcp_left_pos_z", | |
| "tcp_left_quat_x", | |
| "tcp_left_quat_y", | |
| "tcp_left_quat_z", | |
| "tcp_left_quat_w", | |
| "tcp_right_pos_x", | |
| "tcp_right_pos_y", | |
| "tcp_right_pos_z", | |
| "tcp_right_quat_x", | |
| "tcp_right_quat_y", | |
| "tcp_right_quat_z", | |
| "tcp_right_quat_w", | |
| "gripper_left_0", | |
| "gripper_left_1", | |
| "gripper_right_0", | |
| "gripper_right_1", | |
| "last_command_left_0", | |
| "last_command_left_1", | |
| "last_command_left_2", | |
| "last_command_left_3", | |
| "last_command_left_4", | |
| "last_command_left_5", | |
| "last_command_left_6", | |
| "last_command_right_0", | |
| "last_command_right_1", | |
| "last_command_right_2", | |
| "last_command_right_3", | |
| "last_command_right_4", | |
| "last_command_right_5", | |
| "last_command_right_6" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": [ | |
| "delta_tcp_left_x", | |
| "delta_tcp_left_y", | |
| "delta_tcp_left_z", | |
| "delta_tcp_left_rot_x", | |
| "delta_tcp_left_rot_y", | |
| "delta_tcp_left_rot_z", | |
| "delta_tcp_right_x", | |
| "delta_tcp_right_y", | |
| "delta_tcp_right_z", | |
| "delta_tcp_right_rot_x", | |
| "delta_tcp_right_rot_y", | |
| "delta_tcp_right_rot_z", | |
| "gripper_left", | |
| "gripper_right" | |
| ] | |
| }, | |
| "observation.images.rgb_static": { | |
| "dtype": "video", | |
| "shape": [ | |
| 640, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 640, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.rgb_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 640, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 640, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.rgb_right": { | |
| "dtype": "video", | |
| "shape": [ | |
| 640, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 640, | |
| "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 | |
| } | |
| } | |
| } |