|
|
{ |
|
|
"codebase_version": "v2.0", |
|
|
"data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet", |
|
|
"robot_type": "aloha", |
|
|
"total_episodes": 34, |
|
|
"total_frames": 20400, |
|
|
"total_tasks": 1, |
|
|
"fps": 50, |
|
|
"splits": { |
|
|
"train": "0:34" |
|
|
}, |
|
|
"keys": [ |
|
|
"observation.state", |
|
|
"action" |
|
|
], |
|
|
"video_keys": [ |
|
|
"observation.images.cam_high", |
|
|
"observation.images.cam_left_wrist", |
|
|
"observation.images.cam_low", |
|
|
"observation.images.cam_right_wrist" |
|
|
], |
|
|
"image_keys": [], |
|
|
"shapes": { |
|
|
"observation.state": 14, |
|
|
"action": 14, |
|
|
"observation.images.cam_high": { |
|
|
"width": 640, |
|
|
"height": 480, |
|
|
"channels": 3 |
|
|
}, |
|
|
"observation.images.cam_left_wrist": { |
|
|
"width": 640, |
|
|
"height": 480, |
|
|
"channels": 3 |
|
|
}, |
|
|
"observation.images.cam_low": { |
|
|
"width": 640, |
|
|
"height": 480, |
|
|
"channels": 3 |
|
|
}, |
|
|
"observation.images.cam_right_wrist": { |
|
|
"width": 640, |
|
|
"height": 480, |
|
|
"channels": 3 |
|
|
} |
|
|
}, |
|
|
"names": { |
|
|
"observation.state": [ |
|
|
"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" |
|
|
], |
|
|
"action": [ |
|
|
"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" |
|
|
] |
|
|
}, |
|
|
"videos": { |
|
|
"videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4", |
|
|
"observation.images.cam_high": { |
|
|
"video.fps": 50.0, |
|
|
"video.width": 640, |
|
|
"video.height": 480, |
|
|
"video.channels": 3, |
|
|
"video.codec": "av1", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
}, |
|
|
"observation.images.cam_left_wrist": { |
|
|
"video.fps": 50.0, |
|
|
"video.width": 640, |
|
|
"video.height": 480, |
|
|
"video.channels": 3, |
|
|
"video.codec": "av1", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
}, |
|
|
"observation.images.cam_low": { |
|
|
"video.fps": 50.0, |
|
|
"video.width": 640, |
|
|
"video.height": 480, |
|
|
"video.channels": 3, |
|
|
"video.codec": "av1", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
}, |
|
|
"observation.images.cam_right_wrist": { |
|
|
"video.fps": 50.0, |
|
|
"video.width": 640, |
|
|
"video.height": 480, |
|
|
"video.channels": 3, |
|
|
"video.codec": "av1", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
} |
|
|
} |
