| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "unknown", | |
| "total_episodes": 2, | |
| "total_frames": 1600, | |
| "total_tasks": 1, | |
| "total_videos": 6, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 50, | |
| "splits": { | |
| "train": "0:2" | |
| }, | |
| "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.images.cam_high": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 848, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 50.0, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_left_wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 848, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 50.0, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_right_wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 848, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 50.0, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "motor_0", | |
| "motor_1", | |
| "motor_2", | |
| "motor_3", | |
| "motor_4", | |
| "motor_5", | |
| "motor_6", | |
| "motor_7", | |
| "motor_8", | |
| "motor_9", | |
| "motor_10", | |
| "motor_11", | |
| "motor_12", | |
| "motor_13" | |
| ] | |
| } | |
| }, | |
| "observation.effort": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "motor_0", | |
| "motor_1", | |
| "motor_2", | |
| "motor_3", | |
| "motor_4", | |
| "motor_5", | |
| "motor_6", | |
| "motor_7", | |
| "motor_8", | |
| "motor_9", | |
| "motor_10", | |
| "motor_11", | |
| "motor_12", | |
| "motor_13" | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "motor_0", | |
| "motor_1", | |
| "motor_2", | |
| "motor_3", | |
| "motor_4", | |
| "motor_5", | |
| "motor_6", | |
| "motor_7", | |
| "motor_8", | |
| "motor_9", | |
| "motor_10", | |
| "motor_11", | |
| "motor_12", | |
| "motor_13" | |
| ] | |
| } | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| } | |
| } |