| { |
| "codebase_version": "v2.1", |
| "robot_type": null, |
| "total_episodes": 72, |
| "total_frames": 28123, |
| "total_tasks": 72, |
| "total_videos": 1080, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 50.0, |
| "splits": { |
| "train": "0:72" |
| }, |
| "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": [ |
| 34 |
| ], |
| "names": [ |
| "front_rocker", |
| "front_left_wheel", |
| "front_right_wheel", |
| "rear_left_wheel", |
| "rear_right_wheel", |
| "ewellix_torso_joint", |
| "pan_joint", |
| "tilt_joint", |
| "left_arm_joint_1", |
| "left_arm_joint_2", |
| "left_arm_joint_3", |
| "left_arm_joint_4", |
| "left_arm_joint_5", |
| "left_arm_joint_6", |
| "left_arm_joint_7", |
| "left_arm_finger_joint", |
| "left_arm_left_inner_finger_joint", |
| "left_arm_left_inner_knuckle_joint", |
| "left_arm_right_outer_knuckle_joint", |
| "left_arm_right_inner_finger_joint", |
| "left_arm_right_inner_knuckle_joint", |
| "right_arm_joint_1", |
| "right_arm_joint_2", |
| "right_arm_joint_3", |
| "right_arm_joint_4", |
| "right_arm_joint_5", |
| "right_arm_joint_6", |
| "right_arm_joint_7", |
| "right_arm_finger_joint", |
| "right_arm_left_inner_finger_joint", |
| "right_arm_left_inner_knuckle_joint", |
| "right_arm_right_outer_knuckle_joint", |
| "right_arm_right_inner_finger_joint", |
| "right_arm_right_inner_knuckle_joint" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 13 |
| ], |
| "names": [ |
| "r_xx", |
| "r_xy", |
| "r_xz", |
| "p_x", |
| "r_yx", |
| "r_yy", |
| "r_yz", |
| "p_y", |
| "r_zx", |
| "r_zy", |
| "r_zz", |
| "p_z", |
| "joint" |
| ] |
| }, |
| "observation.image.world__world_camera.rgb": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.external_camera.rgb": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera.rgb": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__robot__left_arm_camera_color_frame__left_hand_camera.rgb": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__robot__camera_link__head_camera.rgb": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__world_camera.distance_to_image_plane": { |
| "dtype": "video", |
| "shape": [ |
| 1, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.external_camera.distance_to_image_plane": { |
| "dtype": "video", |
| "shape": [ |
| 1, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera.distance_to_image_plane": { |
| "dtype": "video", |
| "shape": [ |
| 1, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__robot__left_arm_camera_color_frame__left_hand_camera.distance_to_image_plane": { |
| "dtype": "video", |
| "shape": [ |
| 1, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__robot__camera_link__head_camera.distance_to_image_plane": { |
| "dtype": "video", |
| "shape": [ |
| 1, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__world_camera.semantic_segmentation": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.external_camera.semantic_segmentation": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera.semantic_segmentation": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__robot__left_arm_camera_color_frame__left_hand_camera.semantic_segmentation": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.image.world__robot__camera_link__head_camera.semantic_segmentation": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 50.0, |
| "video.height": 512, |
| "video.width": 512, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "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 |
| } |
| } |
| } |
