| { |
| "codebase_version": "v3.0", |
| "robot_type": "openarm-right-only", |
| "total_episodes": 3, |
| "total_frames": 1367, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 20, |
| "splits": { |
| "train": "0:3" |
| }, |
| "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": { |
| "action": { |
| "key": "action", |
| "topic": "/operator/arm_1/joint_state/expected.position", |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "openarm_joint1", |
| "openarm_joint2", |
| "openarm_joint3", |
| "openarm_joint4", |
| "openarm_joint5", |
| "openarm_joint6", |
| "openarm_joint7", |
| "openarm_joint8" |
| ] |
| }, |
| "observation.state": { |
| "key": "observation.state", |
| "topic": "/controller/arm_1/joint_state/actual.position", |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "openarm_joint1", |
| "openarm_joint2", |
| "openarm_joint3", |
| "openarm_joint4", |
| "openarm_joint5", |
| "openarm_joint6", |
| "openarm_joint7", |
| "openarm_joint8" |
| ] |
| }, |
| "observation.images.wrist": { |
| "key": "observation.images.wrist", |
| "topic": "/camera/wrist/rgb/compressed", |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.ego": { |
| "key": "observation.images.ego", |
| "topic": "/camera/ego/rgb/compressed", |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "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 |
| } |
| } |
| } |
