|
{ |
|
"codebase_version": "v2.1", |
|
"robot_type": "robomimic", |
|
"total_episodes": 1014, |
|
"total_frames": 326707, |
|
"total_tasks": 1, |
|
"total_videos": 3042, |
|
"total_chunks": 2, |
|
"chunks_size": 1000, |
|
"fps": 20, |
|
"splits": { |
|
"train": "0:1014" |
|
}, |
|
"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", |
|
"features": { |
|
"action": { |
|
"dtype": "float32", |
|
"shape": [ |
|
24 |
|
], |
|
"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" |
|
] |
|
}, |
|
"next.done": { |
|
"dtype": "bool", |
|
"shape": [ |
|
1 |
|
], |
|
"names": [ |
|
"done" |
|
] |
|
}, |
|
"observation.state": { |
|
"dtype": "float32", |
|
"shape": [ |
|
36 |
|
], |
|
"names": [ |
|
"robot0_left_eef_pos_0", |
|
"robot0_left_eef_pos_1", |
|
"robot0_left_eef_pos_2", |
|
"robot0_left_eef_quat_0", |
|
"robot0_left_eef_quat_1", |
|
"robot0_left_eef_quat_2", |
|
"robot0_left_eef_quat_3", |
|
"robot0_left_gripper_qpos_0", |
|
"robot0_left_gripper_qpos_1", |
|
"robot0_left_gripper_qpos_2", |
|
"robot0_left_gripper_qpos_3", |
|
"robot0_left_gripper_qpos_4", |
|
"robot0_left_gripper_qpos_5", |
|
"robot0_left_gripper_qpos_6", |
|
"robot0_left_gripper_qpos_7", |
|
"robot0_left_gripper_qpos_8", |
|
"robot0_left_gripper_qpos_9", |
|
"robot0_left_gripper_qpos_10", |
|
"robot0_right_eef_pos_0", |
|
"robot0_right_eef_pos_1", |
|
"robot0_right_eef_pos_2", |
|
"robot0_right_eef_quat_0", |
|
"robot0_right_eef_quat_1", |
|
"robot0_right_eef_quat_2", |
|
"robot0_right_eef_quat_3", |
|
"robot0_right_gripper_qpos_0", |
|
"robot0_right_gripper_qpos_1", |
|
"robot0_right_gripper_qpos_2", |
|
"robot0_right_gripper_qpos_3", |
|
"robot0_right_gripper_qpos_4", |
|
"robot0_right_gripper_qpos_5", |
|
"robot0_right_gripper_qpos_6", |
|
"robot0_right_gripper_qpos_7", |
|
"robot0_right_gripper_qpos_8", |
|
"robot0_right_gripper_qpos_9", |
|
"robot0_right_gripper_qpos_10" |
|
] |
|
}, |
|
"observation.images.agentview": { |
|
"dtype": "video", |
|
"shape": [ |
|
84, |
|
84, |
|
3 |
|
], |
|
"names": [ |
|
"height", |
|
"width", |
|
"channel" |
|
], |
|
"info": { |
|
"video.height": 84, |
|
"video.width": 84, |
|
"video.codec": "av1", |
|
"video.pix_fmt": "yuv420p", |
|
"video.is_depth_map": false, |
|
"video.fps": 20, |
|
"video.channels": 3, |
|
"has_audio": false |
|
} |
|
}, |
|
"observation.images.robot0_eye_in_left_hand": { |
|
"dtype": "video", |
|
"shape": [ |
|
84, |
|
84, |
|
3 |
|
], |
|
"names": [ |
|
"height", |
|
"width", |
|
"channel" |
|
], |
|
"info": { |
|
"video.height": 84, |
|
"video.width": 84, |
|
"video.codec": "av1", |
|
"video.pix_fmt": "yuv420p", |
|
"video.is_depth_map": false, |
|
"video.fps": 20, |
|
"video.channels": 3, |
|
"has_audio": false |
|
} |
|
}, |
|
"observation.images.robot0_eye_in_right_hand": { |
|
"dtype": "video", |
|
"shape": [ |
|
84, |
|
84, |
|
3 |
|
], |
|
"names": [ |
|
"height", |
|
"width", |
|
"channel" |
|
], |
|
"info": { |
|
"video.height": 84, |
|
"video.width": 84, |
|
"video.codec": "av1", |
|
"video.pix_fmt": "yuv420p", |
|
"video.is_depth_map": false, |
|
"video.fps": 20, |
|
"video.channels": 3, |
|
"has_audio": false |
|
} |
|
}, |
|
"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 |
|
} |
|
} |
|
} |