| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "dual_arm_fr5_ur3", | |
| "total_episodes": 3, | |
| "total_frames": 85, | |
| "total_tasks": 2, | |
| "chunks_size": 1, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 5, | |
| "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": { | |
| "observation.fr5_image": { | |
| "dtype": "video", | |
| "shape": [ | |
| 360, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "H", | |
| "W", | |
| "C" | |
| ], | |
| "info": { | |
| "video.height": 360, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 5, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.ur3_image": { | |
| "dtype": "video", | |
| "shape": [ | |
| 360, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "H", | |
| "W", | |
| "C" | |
| ], | |
| "info": { | |
| "video.height": 360, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 5, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.base_image": { | |
| "dtype": "video", | |
| "shape": [ | |
| 360, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "H", | |
| "W", | |
| "C" | |
| ], | |
| "info": { | |
| "video.height": 360, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 5, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 13 | |
| ], | |
| "names": [ | |
| "fr5_j0", | |
| "fr5_j1", | |
| "fr5_j2", | |
| "fr5_j3", | |
| "fr5_j4", | |
| "fr5_j5", | |
| "gripper", | |
| "ur3_j0", | |
| "ur3_j1", | |
| "ur3_j2", | |
| "ur3_j3", | |
| "ur3_j4", | |
| "ur3_j5" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 13 | |
| ], | |
| "names": [ | |
| "d_fr5_j0", | |
| "d_fr5_j1", | |
| "d_fr5_j2", | |
| "d_fr5_j3", | |
| "d_fr5_j4", | |
| "d_fr5_j5", | |
| "d_gripper", | |
| "d_ur3_j0", | |
| "d_ur3_j1", | |
| "d_ur3_j2", | |
| "d_ur3_j3", | |
| "d_ur3_j4", | |
| "d_ur3_j5" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |