| { |
| "codebase_version": "v3.0", |
| "robot_type": "double_piperx", |
| "total_episodes": 17, |
| "total_frames": 11896, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:17" |
| }, |
| "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": { |
| "observation.state": { |
| "dtype": "float64", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| [ |
| "arm.jointStatePosition.puppetLeft.joint0", |
| "arm.jointStatePosition.puppetLeft.joint1", |
| "arm.jointStatePosition.puppetLeft.joint2", |
| "arm.jointStatePosition.puppetLeft.joint3", |
| "arm.jointStatePosition.puppetLeft.joint4", |
| "arm.jointStatePosition.puppetLeft.joint5", |
| "arm.jointStatePosition.puppetLeft.joint6", |
| "arm.jointStatePosition.puppetRight.joint0", |
| "arm.jointStatePosition.puppetRight.joint1", |
| "arm.jointStatePosition.puppetRight.joint2", |
| "arm.jointStatePosition.puppetRight.joint3", |
| "arm.jointStatePosition.puppetRight.joint4", |
| "arm.jointStatePosition.puppetRight.joint5", |
| "arm.jointStatePosition.puppetRight.joint6" |
| ] |
| ] |
| }, |
| "action": { |
| "dtype": "float64", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| [ |
| "arm.jointStatePosition.masterLeft.joint0", |
| "arm.jointStatePosition.masterLeft.joint1", |
| "arm.jointStatePosition.masterLeft.joint2", |
| "arm.jointStatePosition.masterLeft.joint3", |
| "arm.jointStatePosition.masterLeft.joint4", |
| "arm.jointStatePosition.masterLeft.joint5", |
| "arm.jointStatePosition.masterLeft.joint6", |
| "arm.jointStatePosition.masterRight.joint0", |
| "arm.jointStatePosition.masterRight.joint1", |
| "arm.jointStatePosition.masterRight.joint2", |
| "arm.jointStatePosition.masterRight.joint3", |
| "arm.jointStatePosition.masterRight.joint4", |
| "arm.jointStatePosition.masterRight.joint5", |
| "arm.jointStatePosition.masterRight.joint6" |
| ] |
| ] |
| }, |
| "observation.images.left": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.front": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "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 |
| } |
| } |
| } |
