File size: 3,236 Bytes
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"codebase_version": "v3.0",
"robot_type": "xarm_lite6",
"total_episodes": 10,
"total_frames": 5477,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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",
"depth_path": "depth/{camera_key}/chunk-{chunk_index:03d}/episode_{episode_index:03d}/{frame_index:06d}.png",
"features": {
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"shape": [
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],
"names": [
"Left_joint1",
"Left_joint2",
"Left_joint3",
"Left_joint4",
"Left_joint5",
"Left_joint6",
"Left_joint7",
"Left_right_finger_joint"
]
},
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],
"names": [
"left_x",
"left_y",
"left_z",
"left_qx",
"left_qy",
"left_qz",
"left_qw",
"left_press_index",
"left_press_middle",
"left_button_upper",
"left_button_lower",
"left_thumb_stick_h",
"left_thumb_stick_v"
]
},
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"names": null
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],
"names": null
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"index": {
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"names": null
},
"task_index": {
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"shape": [
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],
"names": null
},
"observation.images.camera_left": {
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"shape": [
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480,
848
],
"names": [
"channel",
"height",
"width"
],
"info": {
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"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"has_audio": false
}
},
"observation.images.camera_top": {
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"shape": [
3,
480,
640
],
"names": [
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"width"
],
"info": {
"video.fps": 30,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"has_audio": false
}
},
"observation.depth.camera_top.path": {
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"shape": [
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],
"names": null,
"info": {
"format": "png_uint16_mm",
"image_shape": [
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640
],
"note": "Path is relative to dataset root. Load with cv2.imread(path, cv2.IMREAD_UNCHANGED)."
}
}
},
"objects": {
"96_well_plate": {
"name": "96_well_plate",
"source_path": "/home/jz/patty_q/NEST 96 Well PCR Plate 100uL.obj",
"unit": "mm",
"scale_to_m": 0.001,
"mesh_file": "mesh.obj",
"n_vertices": 356997,
"n_faces": 582526
}
},
"cameras_path": "meta/cameras.json"
} |