File size: 3,362 Bytes
6c9d329
f449fb2
6c9d329
 
 
 
 
f449fb2
6c9d329
 
 
f449fb2
 
6c9d329
 
 
 
 
 
 
 
 
 
 
 
f449fb2
 
6c9d329
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
f449fb2
 
6c9d329
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
f449fb2
 
6c9d329
 
 
 
 
 
f449fb2
 
6c9d329
 
 
 
 
 
f449fb2
 
6c9d329
 
 
 
 
 
f449fb2
 
6c9d329
 
 
 
 
 
f449fb2
 
6c9d329
 
 
 
 
 
f449fb2
 
6c9d329
 
 
 
 
 
f449fb2
 
6c9d329
f449fb2
924ebdc
 
6c9d329
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
{
    "codebase_version": "v3.0",
    "robot_type": "aloha",
    "total_episodes": 50,
    "total_frames": 20000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 50.0,
    "splits": {
        "train": "0:50"
    },
    "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.top": {
            "dtype": "image",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 50.0
        },
        "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
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}