| { |
| "codebase_version": "v3.0", |
| "robot_type": null, |
| "total_episodes": 60, |
| "total_frames": 8586, |
| "total_tasks": 6, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "fps": 20, |
| "splits": { |
| "train": "0:60" |
| }, |
| "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": { |
| "reward": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.state.joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": { |
| "motors": [ |
| "l1", |
| "l2", |
| "l3", |
| "l4", |
| "l5", |
| "l6", |
| "l_gripper", |
| "r1", |
| "r2", |
| "r3", |
| "r4", |
| "r5", |
| "r6", |
| "r_gripper" |
| ] |
| } |
| }, |
| "observation.state.ee_6d_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 20 |
| ], |
| "names": { |
| "motors": [ |
| "lx", |
| "ly", |
| "lz", |
| "l_c1x", |
| "l_c1y", |
| "l_c1z", |
| "l_c2x", |
| "l_c2y", |
| "l_c2z", |
| "l_gripper", |
| "rx", |
| "ry", |
| "rz", |
| "r_c1x", |
| "r_c1y", |
| "r_c1z", |
| "r_c2x", |
| "r_c2y", |
| "r_c2z", |
| "r_gripper" |
| ] |
| } |
| }, |
| "observation.state.ee_quat_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": { |
| "motors": [ |
| "lx", |
| "ly", |
| "lz", |
| "l_qx", |
| "l_qy", |
| "l_qz", |
| "l_qw", |
| "l_gripper", |
| "rx", |
| "ry", |
| "rz", |
| "r_qx", |
| "r_qy", |
| "r_qz", |
| "r_qw", |
| "r_gripper" |
| ] |
| } |
| }, |
| "observation.images.agentview": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 20.0, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_left": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 20.0, |
| "video.height": 240, |
| "video.width": 320, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_right": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 20.0, |
| "video.height": 240, |
| "video.width": 320, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "action.joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": { |
| "motors": [ |
| "l1", |
| "l2", |
| "l3", |
| "l4", |
| "l5", |
| "l6", |
| "l_gripper", |
| "r1", |
| "r2", |
| "r3", |
| "r4", |
| "r5", |
| "r6", |
| "r_gripper" |
| ] |
| } |
| }, |
| "action.ee_6d_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 20 |
| ], |
| "names": { |
| "motors": [ |
| "lx", |
| "ly", |
| "lz", |
| "l_c1x", |
| "l_c1y", |
| "l_c1z", |
| "l_c2x", |
| "l_c2y", |
| "l_c2z", |
| "l_gripper", |
| "rx", |
| "ry", |
| "rz", |
| "r_c1x", |
| "r_c1y", |
| "r_c1z", |
| "r_c2x", |
| "r_c2y", |
| "r_c2z", |
| "r_gripper" |
| ] |
| } |
| }, |
| "action.ee_quat_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": { |
| "motors": [ |
| "lx", |
| "ly", |
| "lz", |
| "l_qx", |
| "l_qy", |
| "l_qz", |
| "l_qw", |
| "l_gripper", |
| "rx", |
| "ry", |
| "rz", |
| "r_qx", |
| "r_qy", |
| "r_qz", |
| "r_qw", |
| "r_gripper" |
| ] |
| } |
| }, |
| "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 |
| } |
| } |
| } |