| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "panda", | |
| "total_episodes": 3, | |
| "total_frames": 493, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 20, | |
| "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": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "dx", | |
| "dy", | |
| "dz", | |
| "dax", | |
| "day", | |
| "daz", | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "panda_joint_1", | |
| "panda_joint_2", | |
| "panda_joint_3", | |
| "panda_joint_4", | |
| "panda_joint_5", | |
| "panda_joint_6", | |
| "panda_joint_7", | |
| "panda_finger_joint_1", | |
| "panda_finger_joint_2" | |
| ] | |
| } | |
| }, | |
| "observation.images.agentview": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "video", | |
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| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "index": { | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
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| 1 | |
| ], | |
| "names": null | |
| } | |
| } | |
| } |