| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "aloha", | |
| "total_episodes": 400, | |
| "total_frames": 288007, | |
| "total_tasks": 14, | |
| "total_videos": 1200, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:400" | |
| }, | |
| "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": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 26 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_joint_position1", | |
| "left_joint_position2", | |
| "left_joint_position3", | |
| "left_joint_position4", | |
| "left_joint_position5", | |
| "left_joint_position6", | |
| "left_gripper", | |
| "right_joint_position1", | |
| "right_joint_position2", | |
| "right_joint_position3", | |
| "right_joint_position4", | |
| "right_joint_position5", | |
| "right_joint_position6", | |
| "right_gripper", | |
| "left_x", | |
| "left_y", | |
| "left_z", | |
| "left_delta_x", | |
| "left_delta_y", | |
| "left_delta_z", | |
| "right_x", | |
| "right_y", | |
| "right_z", | |
| "right_delta_x", | |
| "right_delta_y", | |
| "right_delta_z" | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 26 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_joint_position1", | |
| "left_joint_position2", | |
| "left_joint_position3", | |
| "left_joint_position4", | |
| "left_joint_position5", | |
| "left_joint_position6", | |
| "left_gripper", | |
| "right_joint_position1", | |
| "right_joint_position2", | |
| "right_joint_position3", | |
| "right_joint_position4", | |
| "right_joint_position5", | |
| "right_joint_position6", | |
| "right_gripper", | |
| "left_x", | |
| "left_y", | |
| "left_z", | |
| "left_delta_x", | |
| "left_delta_y", | |
| "left_delta_z", | |
| "right_x", | |
| "right_y", | |
| "right_z", | |
| "right_delta_x", | |
| "right_delta_y", | |
| "right_delta_z" | |
| ] | |
| } | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.images.cam_high": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 720, | |
| "video.width": 1280, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_left_wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_right_wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "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 | |
| } | |
| } | |
| } |