| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "unknown", | |
| "total_episodes": 3, | |
| "total_frames": 405, | |
| "total_tasks": 3, | |
| "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": { | |
| "dtype": "float32", | |
| "names": [ | |
| "eef.dx", | |
| "eef.dy", | |
| "eef.dz", | |
| "eef.droll", | |
| "eef.dpitch", | |
| "eef.dyaw", | |
| "gripper.cmd" | |
| ], | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "names": [ | |
| "eef.x", | |
| "eef.y", | |
| "eef.z", | |
| "eef.axis_angle_x", | |
| "eef.axis_angle_y", | |
| "eef.axis_angle_z", | |
| "gripper.qpos_0", | |
| "gripper.qpos_1" | |
| ], | |
| "shape": [ | |
| 8 | |
| ] | |
| }, | |
| "observation.images.image": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.image2": { | |
| "dtype": "video", | |
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| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
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| 1 | |
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| "names": null | |
| }, | |
| "episode_index": { | |
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| ], | |
| "names": null | |
| }, | |
| "index": { | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
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| 1 | |
| ], | |
| "names": null | |
| } | |
| } | |
| } |