| { |
| "version": 1, |
| "dataset_repo_id": "H2Ozone/new_full_data", |
| "dataset_revision": "a375585fae9969bdd231f1dfde6ae8a09ae7a4a3", |
| "model_repo_id": "H2Ozone/new_full_data-pi05", |
| "policy_type": "pi05", |
| "target_profile": "alex_v2_ability_hands", |
| "fps": 30, |
| "robot_type": "alex_ability_hands", |
| "features": { |
| "observation.images.cam_zed_left": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
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| "width", |
| "channel" |
| ], |
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| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
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| "video.video_backend": "pyav" |
| } |
| }, |
| "observation.images.cam_zed_right": { |
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| 640, |
| 3 |
| ], |
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| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 48 |
| ], |
| "names": [ |
| "left_wrist_pos_x", |
| "left_wrist_pos_y", |
| "left_wrist_pos_z", |
| "left_wrist_quat_x", |
| "left_wrist_quat_y", |
| "left_wrist_quat_z", |
| "left_wrist_quat_w", |
| "right_wrist_pos_x", |
| "right_wrist_pos_y", |
| "right_wrist_pos_z", |
| "right_wrist_quat_x", |
| "right_wrist_quat_y", |
| "right_wrist_quat_z", |
| "right_wrist_quat_w", |
| "left_forearm_quat_x", |
| "left_forearm_quat_y", |
| "left_forearm_quat_z", |
| "left_forearm_quat_w", |
| "right_forearm_quat_x", |
| "right_forearm_quat_y", |
| "right_forearm_quat_z", |
| "right_forearm_quat_w", |
| "neck_quat_x", |
| "neck_quat_y", |
| "neck_quat_z", |
| "neck_quat_w", |
| "left_ability_hand_index_q1", |
| "left_ability_hand_index_q2", |
| "left_ability_hand_middle_q1", |
| "left_ability_hand_middle_q2", |
| "left_ability_hand_ring_q1", |
| "left_ability_hand_ring_q2", |
| "left_ability_hand_pinky_q1", |
| "left_ability_hand_pinky_q2", |
| "left_ability_hand_thumb_q1", |
| "left_ability_hand_thumb_q2", |
| "right_ability_hand_index_q1", |
| "right_ability_hand_index_q2", |
| "right_ability_hand_middle_q1", |
| "right_ability_hand_middle_q2", |
| "right_ability_hand_ring_q1", |
| "right_ability_hand_ring_q2", |
| "right_ability_hand_pinky_q1", |
| "right_ability_hand_pinky_q2", |
| "right_ability_hand_thumb_q1", |
| "right_ability_hand_thumb_q2", |
| "spine_z", |
| "spine_y" |
| ], |
| "fps": 30.0 |
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| "action": { |
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| ], |
| "names": [ |
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| "left_wrist_pos_y", |
| "left_wrist_pos_z", |
| "left_wrist_quat_x", |
| "left_wrist_quat_y", |
| "left_wrist_quat_z", |
| "left_wrist_quat_w", |
| "right_wrist_pos_x", |
| "right_wrist_pos_y", |
| "right_wrist_pos_z", |
| "right_wrist_quat_x", |
| "right_wrist_quat_y", |
| "right_wrist_quat_z", |
| "right_wrist_quat_w", |
| "left_forearm_quat_x", |
| "left_forearm_quat_y", |
| "left_forearm_quat_z", |
| "left_forearm_quat_w", |
| "right_forearm_quat_x", |
| "right_forearm_quat_y", |
| "right_forearm_quat_z", |
| "right_forearm_quat_w", |
| "neck_quat_x", |
| "neck_quat_y", |
| "neck_quat_z", |
| "neck_quat_w", |
| "left_ability_hand_index_q1", |
| "left_ability_hand_index_q2", |
| "left_ability_hand_middle_q1", |
| "left_ability_hand_middle_q2", |
| "left_ability_hand_ring_q1", |
| "left_ability_hand_ring_q2", |
| "left_ability_hand_pinky_q1", |
| "left_ability_hand_pinky_q2", |
| "left_ability_hand_thumb_q1", |
| "left_ability_hand_thumb_q2", |
| "right_ability_hand_index_q1", |
| "right_ability_hand_index_q2", |
| "right_ability_hand_middle_q1", |
| "right_ability_hand_middle_q2", |
| "right_ability_hand_ring_q1", |
| "right_ability_hand_ring_q2", |
| "right_ability_hand_pinky_q1", |
| "right_ability_hand_pinky_q2", |
| "right_ability_hand_thumb_q1", |
| "right_ability_hand_thumb_q2" |
| ], |
| "fps": 30.0 |
| }, |
| "timestamp": { |
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| }, |
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| "fps": 30.0 |
| } |
| } |
| } |
