yypeng666's picture
Add jar_transport v1 datagen LeRobot dataset (part 4)
c5fcefe verified
Raw
History Blame
5.52 kB
{
"codebase_version": "v2.1",
"robot_type": "FrankaPanda",
"total_episodes": 1040,
"total_frames": 946870,
"total_tasks": 21,
"total_videos": 5200,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1040"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"image_opposite": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"image_left": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"image_right": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"image_left_shoulder": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"wrist_image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"arm_q0",
"arm_q1",
"arm_q2",
"arm_q3",
"arm_q4",
"arm_q5",
"arm_q6",
"gripper"
]
},
"actions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"arm_q0_next",
"arm_q1_next",
"arm_q2_next",
"arm_q3_next",
"arm_q4_next",
"arm_q5_next",
"arm_q6_next",
"gripper_cmd"
]
},
"actions_commanded": {
"dtype": "float32",
"shape": [
8
],
"names": [
"arm_q0_cmd",
"arm_q1_cmd",
"arm_q2_cmd",
"arm_q3_cmd",
"arm_q4_cmd",
"arm_q5_cmd",
"arm_q6_cmd",
"gripper_cmd"
]
},
"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
}
}
}