| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "Jaka_Dual_Arm", | |
| "total_episodes": 10, | |
| "total_frames": 200, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 1, | |
| "splits": { | |
| "train": "0:10" | |
| }, | |
| "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.images.camera_global": { | |
| "dtype": "video", | |
| "shape": [ | |
| 640, | |
| 480, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "rgb" | |
| ], | |
| "info": { | |
| "video.height": 640, | |
| "video.width": 480, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 1, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.camera_left_arm": { | |
| "dtype": "video", | |
| "shape": [ | |
| 640, | |
| 480, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "rgb" | |
| ], | |
| "info": { | |
| "video.height": 640, | |
| "video.width": 480, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 1, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.camera_right_arm": { | |
| "dtype": "video", | |
| "shape": [ | |
| 640, | |
| 480, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "rgb" | |
| ], | |
| "info": { | |
| "video.height": 640, | |
| "video.width": 480, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 1, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "joint1", | |
| "joint2", | |
| "joint3", | |
| "joint4", | |
| "joint5", | |
| "joint6", | |
| "joint7" | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "joint1", | |
| "joint2", | |
| "joint3", | |
| "joint4", | |
| "joint5", | |
| "joint6", | |
| "joint7" | |
| ] | |
| } | |
| }, | |
| "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": { | |
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| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| } | |
| } |