| { |
| "codebase_version": "v2.0", |
| "robot_type": "aloha", |
| "total_episodes": 50, |
| "total_frames": 6600, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "fps": 50.0, |
| "splits": { |
| "train": "0:50" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/file-{episode_chunk:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{episode_chunk:03d}/file-{episode_chunk:03d}.mp4", |
| "features": { |
| "observation.images.top": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 50.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "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" |
| ] |
| }, |
| "fps": 50.0 |
| }, |
| "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" |
| ] |
| }, |
| "fps": 50.0 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| } |
| }, |
| "files_size_in_mb": 500.0 |
| } |
|
|
