| { |
| "codebase_version": "v3.0", |
| "robot_type": "xlerobot", |
| "total_episodes": 256, |
| "total_frames": 153183, |
| "total_tasks": 4, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:256" |
| }, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "left_arm_shoulder_pan.pos", |
| "left_arm_shoulder_lift.pos", |
| "left_arm_elbow_flex.pos", |
| "left_arm_wrist_flex.pos", |
| "left_arm_wrist_roll.pos", |
| "left_arm_gripper.pos", |
| "right_arm_shoulder_pan.pos", |
| "right_arm_shoulder_lift.pos", |
| "right_arm_elbow_flex.pos", |
| "right_arm_wrist_flex.pos", |
| "right_arm_wrist_roll.pos", |
| "right_arm_gripper.pos", |
| "head_pan.pos", |
| "head_tilt.pos", |
| "x.vel", |
| "y.vel", |
| "theta.vel", |
| "gantry.height_mm" |
| ], |
| "shape": [ |
| 18 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "left_arm_shoulder_pan.pos", |
| "left_arm_shoulder_lift.pos", |
| "left_arm_elbow_flex.pos", |
| "left_arm_wrist_flex.pos", |
| "left_arm_wrist_roll.pos", |
| "left_arm_gripper.pos", |
| "right_arm_shoulder_pan.pos", |
| "right_arm_shoulder_lift.pos", |
| "right_arm_elbow_flex.pos", |
| "right_arm_wrist_flex.pos", |
| "right_arm_wrist_roll.pos", |
| "right_arm_gripper.pos", |
| "head_pan.pos", |
| "head_tilt.pos", |
| "x.vel", |
| "y.vel", |
| "theta.vel", |
| "gantry.height_mm" |
| ], |
| "shape": [ |
| 18 |
| ] |
| }, |
| "observation.images.head": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "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 |
| } |
| } |
| } |
