|
{ |
|
"codebase_version": "v2.0", |
|
"robot_type": "stationary", |
|
"total_episodes": 56, |
|
"total_frames": 55440, |
|
"total_tasks": 1, |
|
"total_videos": 112, |
|
"total_chunks": 1, |
|
"chunks_size": 1000, |
|
"fps": 30, |
|
"splits": { |
|
"train": "0:56" |
|
}, |
|
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
|
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
|
"depth_images_path": null, |
|
"features": { |
|
"action": { |
|
"dtype": "float32", |
|
"shape": [ |
|
7 |
|
], |
|
"names": [ |
|
"joint_0", |
|
"joint_1", |
|
"joint_2", |
|
"joint_3", |
|
"joint_4", |
|
"joint_5", |
|
"joint_6" |
|
] |
|
}, |
|
"observation.images.sensekit_9095_camera": { |
|
"dtype": "video", |
|
"shape": [ |
|
480, |
|
640, |
|
3 |
|
], |
|
"names": [ |
|
"height", |
|
"width", |
|
"channel" |
|
] |
|
}, |
|
"observation.images.sensekit_9098_camera": { |
|
"dtype": "video", |
|
"shape": [ |
|
480, |
|
640, |
|
3 |
|
], |
|
"names": [ |
|
"height", |
|
"width", |
|
"channel" |
|
] |
|
}, |
|
"observation.state": { |
|
"dtype": "float32", |
|
"shape": [ |
|
7 |
|
], |
|
"names": [ |
|
"joint_0", |
|
"joint_1", |
|
"joint_2", |
|
"joint_3", |
|
"joint_4", |
|
"joint_5", |
|
"joint_6" |
|
] |
|
}, |
|
"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 |
|
} |
|
} |
|
} |
|
|