| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "hand", | |
| "total_episodes": 3, | |
| "total_frames": 632, | |
| "total_tasks": 3, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "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.image": { | |
| "dtype": "video", | |
| "shape": [ | |
| 1080, | |
| 1920, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "rgb" | |
| ], | |
| "info": { | |
| "video.height": 1080, | |
| "video.width": 1920, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 48 | |
| ], | |
| "names": [ | |
| "left_wrist_x", | |
| "left_wrist_y", | |
| "left_wrist_z", | |
| "left_rot_0", | |
| "left_rot_1", | |
| "left_rot_2", | |
| "left_rot_3", | |
| "left_rot_4", | |
| "left_rot_5", | |
| "left_thumb_x", | |
| "left_thumb_y", | |
| "left_thumb_z", | |
| "left_index_x", | |
| "left_index_y", | |
| "left_index_z", | |
| "left_middle_x", | |
| "left_middle_y", | |
| "left_middle_z", | |
| "left_ring_x", | |
| "left_ring_y", | |
| "left_ring_z", | |
| "left_little_x", | |
| "left_little_y", | |
| "left_little_z", | |
| "right_wrist_x", | |
| "right_wrist_y", | |
| "right_wrist_z", | |
| "right_rot_0", | |
| "right_rot_1", | |
| "right_rot_2", | |
| "right_rot_3", | |
| "right_rot_4", | |
| "right_rot_5", | |
| "right_thumb_x", | |
| "right_thumb_y", | |
| "right_thumb_z", | |
| "right_index_x", | |
| "right_index_y", | |
| "right_index_z", | |
| "right_middle_x", | |
| "right_middle_y", | |
| "right_middle_z", | |
| "right_ring_x", | |
| "right_ring_y", | |
| "right_ring_z", | |
| "right_little_x", | |
| "right_little_y", | |
| "right_little_z" | |
| ] | |
| }, | |
| "observation.extrinsics": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 16 | |
| ], | |
| "names": [ | |
| "extrinsic_0", | |
| "extrinsic_1", | |
| "extrinsic_2", | |
| "extrinsic_3", | |
| "extrinsic_4", | |
| "extrinsic_5", | |
| "extrinsic_6", | |
| "extrinsic_7", | |
| "extrinsic_8", | |
| "extrinsic_9", | |
| "extrinsic_10", | |
| "extrinsic_11", | |
| "extrinsic_12", | |
| "extrinsic_13", | |
| "extrinsic_14", | |
| "extrinsic_15" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 48 | |
| ], | |
| "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", | |
| "action_19", | |
| "action_20", | |
| "action_21", | |
| "action_22", | |
| "action_23", | |
| "action_24", | |
| "action_25", | |
| "action_26", | |
| "action_27", | |
| "action_28", | |
| "action_29", | |
| "action_30", | |
| "action_31", | |
| "action_32", | |
| "action_33", | |
| "action_34", | |
| "action_35", | |
| "action_36", | |
| "action_37", | |
| "action_38", | |
| "action_39", | |
| "action_40", | |
| "action_41", | |
| "action_42", | |
| "action_43", | |
| "action_44", | |
| "action_45", | |
| "action_46", | |
| "action_47" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |