| { |
| "codebase_version": "v3.0", |
| "fps": 50, |
| "features": { |
| "observation.images.third_person": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ], |
| "info": { |
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| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
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| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.images.eye_in_hand": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ], |
| "info": { |
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| "video.codec": "av1", |
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| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 24 |
| ], |
| "names": [ |
| "shoulder_pan_joint", |
| "shoulder_lift_joint", |
| "elbow_joint", |
| "wrist_1_joint", |
| "wrist_2_joint", |
| "wrist_3_joint", |
| "right_index_yaw_joint", |
| "right_middle_yaw_joint", |
| "right_pinky_mcp_joint", |
| "right_ring_mcp_joint", |
| "right_thumb_yaw_joint", |
| "right_index_mcp_joint", |
| "right_middle_mcp_joint", |
| "right_pinky_pip_joint", |
| "right_ring_pip_joint", |
| "right_thumb_mcp_joint", |
| "right_index_pip_joint", |
| "right_middle_pip_joint", |
| "right_pinky_dip_joint", |
| "right_ring_dip_joint", |
| "right_thumb_pip_joint", |
| "right_index_dip_joint", |
| "right_middle_dip_joint", |
| "right_thumb_dip_joint" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 19 |
| ], |
| "names": [ |
| "action_0", |
| "action_1", |
| "action_2", |
| "action_3", |
| "action_4", |
| "action_5", |
| "action_6", |
| "action_7", |
| "action_8", |
| "action_9", |
| "action_10", |
| "action_11", |
| "action_12", |
| "action_13", |
| "action_14", |
| "action_15", |
| "action_16", |
| "action_17", |
| "action_18" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
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| ], |
| "names": null |
| }, |
| "frame_index": { |
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| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
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| ], |
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| }, |
| "index": { |
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| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
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| 1 |
| ], |
| "names": null |
| } |
| }, |
| "total_episodes": 150, |
| "total_frames": 69642, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "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", |
| "robot_type": "generic", |
| "splits": { |
| "train": "0:150" |
| } |
| } |
