Datasets:
{ | |
"codebase_version": "v2.0", | |
"data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet", | |
"robot_type": "aloha", | |
"total_episodes": 50, | |
"total_tasks": 1, | |
"fps": 50, | |
"splits": { | |
"train": "0:50" | |
}, | |
"keys": [ | |
"observation.state", | |
"action" | |
], | |
"video_keys": [ | |
"observation.images.top" | |
], | |
"image_keys": [], | |
"shapes": { | |
"observation.state": 14, | |
"action": 14, | |
"observation.images.top": { | |
"width": 640, | |
"height": 480, | |
"channels": 3 | |
} | |
}, | |
"names": { | |
"observation.state": [ | |
"left_waist", | |
"left_shoulder", | |
"left_elbow", | |
"left_forearm_roll", | |
"left_wrist_angle", | |
"left_wrist_rotate", | |
"left_gripper", | |
"right_waist", | |
"right_shoulder", | |
"right_elbow", | |
"right_forearm_roll", | |
"right_wrist_angle", | |
"right_wrist_rotate", | |
"right_gripper" | |
], | |
"action": [ | |
"left_waist", | |
"left_shoulder", | |
"left_elbow", | |
"left_forearm_roll", | |
"left_wrist_angle", | |
"left_wrist_rotate", | |
"left_gripper", | |
"right_waist", | |
"right_shoulder", | |
"right_elbow", | |
"right_forearm_roll", | |
"right_wrist_angle", | |
"right_wrist_rotate", | |
"right_gripper" | |
] | |
}, | |
"videos": { | |
"videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4", | |
"observation.images.top": { | |
"video.fps": 50.0, | |
"video.width": 640, | |
"video.height": 480, | |
"video.channels": 3, | |
"video.codec": "av1", | |
"video.pix_fmt": "yuv420p", | |
"video.is_depth_map": false, | |
"has_audio": false | |
} | |
}, | |
"episodes": [ | |
{ | |
"index": 0, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 1, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 2, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 3, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 4, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 5, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 6, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 7, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 8, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 9, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 10, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 11, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 12, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 13, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 14, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 15, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 16, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 17, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 18, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 19, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 20, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 21, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 22, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 23, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 24, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 25, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 26, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 27, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 28, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 29, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 30, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 31, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 32, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 33, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 34, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 35, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 36, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 37, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 38, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 39, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 40, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 41, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 42, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 43, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 44, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 45, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 46, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 47, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 48, | |
"task": 0, | |
"length": 500 | |
}, | |
{ | |
"index": 49, | |
"task": 0, | |
"length": 500 | |
} | |
] | |
} |