| | { |
| | "codebase_version": "v2.0", |
| | "data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet", |
| | "robot_type": "aloha", |
| | "total_episodes": 49, |
| | "total_frames": 29400, |
| | "total_tasks": 1, |
| | "fps": 50, |
| | "splits": { |
| | "train": "0:49" |
| | }, |
| | "keys": [ |
| | "observation.state", |
| | "action" |
| | ], |
| | "video_keys": [ |
| | "observation.images.cam_high", |
| | "observation.images.cam_left_wrist", |
| | "observation.images.cam_low", |
| | "observation.images.cam_right_wrist" |
| | ], |
| | "image_keys": [], |
| | "shapes": { |
| | "observation.state": 14, |
| | "action": 14, |
| | "observation.images.cam_high": { |
| | "width": 640, |
| | "height": 480, |
| | "channels": 3 |
| | }, |
| | "observation.images.cam_left_wrist": { |
| | "width": 640, |
| | "height": 480, |
| | "channels": 3 |
| | }, |
| | "observation.images.cam_low": { |
| | "width": 640, |
| | "height": 480, |
| | "channels": 3 |
| | }, |
| | "observation.images.cam_right_wrist": { |
| | "width": 640, |
| | "height": 480, |
| | "channels": 3 |
| | } |
| | }, |
| | "names": { |
| | "observation.state": [ |
| | "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": [ |
| | "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" |
| | ] |
| | }, |
| | "videos": { |
| | "videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4", |
| | "observation.images.cam_high": { |
| | "video.fps": 50.0, |
| | "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.cam_left_wrist": { |
| | "video.fps": 50.0, |
| | "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.cam_low": { |
| | "video.fps": 50.0, |
| | "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.cam_right_wrist": { |
| | "video.fps": 50.0, |
| | "video.width": 640, |
| | "video.height": 480, |
| | "video.channels": 3, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "has_audio": false |
| | } |
| | } |
| | } |
