| { |
| "codebase_version": "v3.0", |
| "robot_type": "xarm7", |
| "total_episodes": 3, |
| "total_frames": 1370, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:3" |
| }, |
| "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": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "Left_joint1", |
| "Left_joint2", |
| "Left_joint3", |
| "Left_joint4", |
| "Left_joint5", |
| "Left_joint6", |
| "Left_joint7", |
| "Left_right_finger_joint" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 13 |
| ], |
| "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" |
| ] |
| }, |
| "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 |
| }, |
| "observation.images.camera_left": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 848 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "has_audio": false |
| } |
| }, |
| "observation.images.camera_top": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 848 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "has_audio": false |
| } |
| }, |
| "observation.depth.camera_left.path": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "info": { |
| "format": "png_uint16_mm", |
| "image_shape": [ |
| 1, |
| 480, |
| 848 |
| ], |
| "note": "Path is relative to dataset root. Load with cv2.imread(path, cv2.IMREAD_UNCHANGED)." |
| } |
| }, |
| "observation.depth.camera_top.path": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "info": { |
| "format": "png_uint16_mm", |
| "image_shape": [ |
| 1, |
| 480, |
| 848 |
| ], |
| "note": "Path is relative to dataset root. Load with cv2.imread(path, cv2.IMREAD_UNCHANGED)." |
| } |
| } |
| }, |
| "objects": { |
| "nest_reservoir": { |
| "name": "nest_reservoir", |
| "source_path": "NEST 12 Row Reservoir 22mL.obj", |
| "unit": "mm", |
| "scale_to_m": 0.001, |
| "mesh_file": "mesh.obj", |
| "n_vertices": 6342, |
| "n_faces": 7716 |
| } |
| }, |
| "cameras_path": "meta/cameras.json" |
| } |
