| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "mixed", | |
| "total_episodes": 15, | |
| "total_frames": 7411, | |
| "total_tasks": 3, | |
| "chunks_size": 1000, | |
| "fps": 20, | |
| "splits": { | |
| "train": "0:15" | |
| }, | |
| "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.widowX.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.widowX.ee_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.widowX.base_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.widowX.base_orientation": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.widowX.ee_error": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.images.widowX": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.sawyer.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.sawyer.ee_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.sawyer.base_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.sawyer.base_orientation": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.sawyer.ee_error": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.images.sawyer": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.ur5e.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.ur5e.ee_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.ur5e.base_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.ur5e.base_orientation": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.ur5e.ee_error": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.images.ur5e": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.google_robot.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.google_robot.ee_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.google_robot.base_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.google_robot.base_orientation": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.google_robot.ee_error": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.images.google_robot": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.jaco.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.jaco.ee_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.jaco.base_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.jaco.base_orientation": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.jaco.ee_error": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.images.jaco": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.kinova3.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.kinova3.ee_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.kinova3.base_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.kinova3.base_orientation": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.kinova3.ee_error": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.images.kinova3": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.kuka_iiwa.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.kuka_iiwa.ee_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.kuka_iiwa.base_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.kuka_iiwa.base_orientation": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.kuka_iiwa.ee_error": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.images.kuka_iiwa": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.xarm7.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.xarm7.ee_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.xarm7.base_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.xarm7.base_orientation": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.xarm7.ee_error": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.images.xarm7": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.image": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "natural_language_instruction": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 16 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "fps": 20 | |
| }, | |
| "observation.ee_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "fps": 20 | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 20 | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 20 | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 20 | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 20 | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 20 | |
| } | |
| }, | |
| "data_files_size_in_mb": 500, | |
| "video_files_size_in_mb": 500 | |
| } |