|
{ |
|
"codebase_version": "v2.0", |
|
"data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet", |
|
"robot_type": "unknown", |
|
"total_episodes": 1000, |
|
"total_frames": 97939, |
|
"total_tasks": 5, |
|
"fps": 5, |
|
"splits": { |
|
"train": "0:1000" |
|
}, |
|
"keys": [ |
|
"observation.state", |
|
"action" |
|
], |
|
"video_keys": [ |
|
"observation.images.image_with_depth", |
|
"observation.images.image", |
|
"observation.images.hand_image" |
|
], |
|
"image_keys": [], |
|
"shapes": { |
|
"observation.state": 8, |
|
"action": 7, |
|
"observation.images.image_with_depth": { |
|
"width": 640, |
|
"height": 480, |
|
"channels": 3 |
|
}, |
|
"observation.images.image": { |
|
"width": 640, |
|
"height": 480, |
|
"channels": 3 |
|
}, |
|
"observation.images.hand_image": { |
|
"width": 640, |
|
"height": 480, |
|
"channels": 3 |
|
} |
|
}, |
|
"names": { |
|
"observation.state": [ |
|
"motor_0", |
|
"motor_1", |
|
"motor_2", |
|
"motor_3", |
|
"motor_4", |
|
"motor_5", |
|
"motor_6", |
|
"motor_7" |
|
], |
|
"action": [ |
|
"motor_0", |
|
"motor_1", |
|
"motor_2", |
|
"motor_3", |
|
"motor_4", |
|
"motor_5", |
|
"motor_6" |
|
] |
|
}, |
|
"videos": { |
|
"videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4", |
|
"observation.images.image_with_depth": { |
|
"video.fps": 5.0, |
|
"video.width": 640, |
|
"video.height": 480, |
|
"video.channels": 3, |
|
"video.codec": "av1", |
|
"video.pix_fmt": "yuv420p", |
|
"video.is_depth_map": false, |
|
"has_audio": false |
|
}, |
|
"observation.images.image": { |
|
"video.fps": 5.0, |
|
"video.width": 640, |
|
"video.height": 480, |
|
"video.channels": 3, |
|
"video.codec": "av1", |
|
"video.pix_fmt": "yuv420p", |
|
"video.is_depth_map": false, |
|
"has_audio": false |
|
}, |
|
"observation.images.hand_image": { |
|
"video.fps": 5.0, |
|
"video.width": 640, |
|
"video.height": 480, |
|
"video.channels": 3, |
|
"video.codec": "av1", |
|
"video.pix_fmt": "yuv420p", |
|
"video.is_depth_map": false, |
|
"has_audio": false |
|
} |
|
} |
|
} |
