| { |
| "codebase_version": "v3.0", |
| "robot_type": "aloha_agilex_piper", |
| "total_episodes": 4714, |
| "total_frames": 1190262, |
| "total_tasks": 98, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 25, |
| "splits": { |
| "train": "0:4714" |
| }, |
| "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": { |
| "observation.images.cam_high": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 25, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 25, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 25, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "raw_state.left_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "raw_state.left_joint_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "raw_state.left_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "raw_state.left_eef_quat": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "w" |
| ] |
| }, |
| "raw_state.left_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "raw_state.right_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "raw_state.right_joint_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "raw_state.right_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "raw_state.right_eef_quat": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "w" |
| ] |
| }, |
| "raw_state.right_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "raw_target.left_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "raw_target.left_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "raw_target.left_eef_quat": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "w" |
| ] |
| }, |
| "raw_target.left_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "raw_target.right_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "raw_target.right_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "raw_target.right_eef_quat": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "w" |
| ] |
| }, |
| "raw_target.right_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "raw_target.base_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 2 |
| ], |
| "names": [ |
| "linear_vel", |
| "angular_vel" |
| ] |
| }, |
| "state.left_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "state.left_joint_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "state.left_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "state.left_eef_rot9d": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "r11", |
| "r12", |
| "r13", |
| "r21", |
| "r22", |
| "r23", |
| "r31", |
| "r32", |
| "r33" |
| ] |
| }, |
| "state.left_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "state.right_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "state.right_joint_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "state.right_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "state.right_eef_rot9d": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "r11", |
| "r12", |
| "r13", |
| "r21", |
| "r22", |
| "r23", |
| "r31", |
| "r32", |
| "r33" |
| ] |
| }, |
| "state.right_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "target.left_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "target.left_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "target.left_eef_rot9d": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "r11", |
| "r12", |
| "r13", |
| "r21", |
| "r22", |
| "r23", |
| "r31", |
| "r32", |
| "r33" |
| ] |
| }, |
| "target.left_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "target.right_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5" |
| ] |
| }, |
| "target.right_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "target.right_eef_rot9d": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "r11", |
| "r12", |
| "r13", |
| "r21", |
| "r22", |
| "r23", |
| "r31", |
| "r32", |
| "r33" |
| ] |
| }, |
| "target.right_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "target.base_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 2 |
| ], |
| "names": [ |
| "linear_vel", |
| "angular_vel" |
| ] |
| }, |
| "debug.left_gripper_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "debug.left_gripper_eef_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "r11", |
| "r21", |
| "r31", |
| "r12", |
| "r22", |
| "r32" |
| ] |
| }, |
| "debug.right_gripper_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "debug.right_gripper_eef_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "r11", |
| "r21", |
| "r31", |
| "r12", |
| "r22", |
| "r32" |
| ] |
| }, |
| "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 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
