| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "aloha", | |
| "total_episodes": 50, | |
| "total_frames": 23644, | |
| "total_tasks": 39, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 25, | |
| "splits": { | |
| "train": "0:50" | |
| }, | |
| "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": { | |
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| "dtype": "video", | |
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| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
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| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 25, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.left_camera": { | |
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| 320, | |
| 3 | |
| ], | |
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| "width", | |
| "channels" | |
| ], | |
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| "video.codec": "av1", | |
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| "video.is_depth_map": false, | |
| "video.fps": 25, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.right_camera": { | |
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| 240, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "video.width": 320, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 25, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_waist", | |
| "left_shoulder", | |
| "left_elbow", | |
| "left_forearm_roll", | |
| "left_wrist_angle", | |
| "left_wrist_rotate", | |
| "left_gripper", | |
| "right_waist", | |
| "right_shoulder", | |
| "right_elbow", | |
| "right_forearm_roll", | |
| "right_wrist_angle", | |
| "right_wrist_rotate", | |
| "right_gripper" | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_waist", | |
| "left_shoulder", | |
| "left_elbow", | |
| "left_forearm_roll", | |
| "left_wrist_angle", | |
| "left_wrist_rotate", | |
| "left_gripper", | |
| "right_waist", | |
| "right_shoulder", | |
| "right_elbow", | |
| "right_forearm_roll", | |
| "right_wrist_angle", | |
| "right_wrist_rotate", | |
| "right_gripper" | |
| ] | |
| } | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
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| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
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| ], | |
| "names": null | |
| }, | |
| "index": { | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
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| "names": null | |
| } | |
| } | |
| } |