| { |
| "codebase_version": "v3.0", |
| "robot_type": "abb", |
| "total_episodes": 2, |
| "total_frames": 308, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "fps": 15, |
| "splits": { |
| "train": "0:2" |
| }, |
| "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.pose": { |
| "dtype": "float64", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "observation.state.tool": { |
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| 1 |
| ], |
| "names": [ |
| "tool" |
| ] |
| }, |
| "observation.state.tcp_force": { |
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| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "observation.state.tcp_torque": { |
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| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "observation.state.suction_channels": { |
| "dtype": "float64", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "ch0", |
| "ch1", |
| "ch2" |
| ] |
| }, |
| "observation.images.side": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 300, |
| 480 |
| ], |
| "info": { |
| "video.height": 300, |
| "video.width": 480, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_left": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 360, |
| 270 |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 270, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_right": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 360, |
| 270 |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 270, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "action.pose": { |
| "dtype": "float64", |
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| 6 |
| ], |
| "names": [ |
| "dx", |
| "dy", |
| "dz", |
| "droll", |
| "dpitch", |
| "dyaw" |
| ] |
| }, |
| "action.tool": { |
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| 1 |
| ] |
| }, |
| "timestamp": { |
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| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
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| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
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| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
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| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
