| { | |
| "codebase_version": "v3.0", | |
| "fps": 8, | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 19 | |
| ], | |
| "names": [ | |
| "arm_right_joint_1", | |
| "arm_right_joint_2", | |
| "arm_right_joint_3", | |
| "arm_right_joint_4", | |
| "arm_right_joint_5", | |
| "arm_right_joint_6", | |
| "arm_right_joint_7", | |
| "arm_right_joint_8", | |
| "arm_left_joint_1", | |
| "arm_left_joint_2", | |
| "arm_left_joint_3", | |
| "arm_left_joint_4", | |
| "arm_left_joint_5", | |
| "arm_left_joint_6", | |
| "arm_left_joint_7", | |
| "arm_left_joint_8", | |
| "base_cmd_linear_x", | |
| "base_cmd_angular_z", | |
| "turntable_joint_vel" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 19 | |
| ], | |
| "names": [ | |
| "arm_right_joint_1", | |
| "arm_right_joint_2", | |
| "arm_right_joint_3", | |
| "arm_right_joint_4", | |
| "arm_right_joint_5", | |
| "arm_right_joint_6", | |
| "arm_right_joint_7", | |
| "arm_right_joint_8", | |
| "arm_left_joint_1", | |
| "arm_left_joint_2", | |
| "arm_left_joint_3", | |
| "arm_left_joint_4", | |
| "arm_left_joint_5", | |
| "arm_left_joint_6", | |
| "arm_left_joint_7", | |
| "arm_left_joint_8", | |
| "base_cmd_linear_x", | |
| "base_cmd_angular_z", | |
| "turntable_joint_pos" | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.images.ego": { | |
| "dtype": "video", | |
| "shape": [ | |
| 720, | |
| 1280, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "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 | |
| } | |
| }, | |
| "total_episodes": 0, | |
| "total_frames": 0, | |
| "total_tasks": 0, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "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", | |
| "robot_type": "oscar", | |
| "splits": {} | |
| } |