| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "g1d", | |
| "total_episodes": 61, | |
| "total_frames": 100143, | |
| "total_tasks": 4, | |
| "total_videos": 61, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:61" | |
| }, | |
| "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": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 49 | |
| ], | |
| "names": [ | |
| "left_wrist_eef_9d.0", | |
| "left_wrist_eef_9d.1", | |
| "left_wrist_eef_9d.2", | |
| "left_wrist_eef_9d.3", | |
| "left_wrist_eef_9d.4", | |
| "left_wrist_eef_9d.5", | |
| "left_wrist_eef_9d.6", | |
| "left_wrist_eef_9d.7", | |
| "left_wrist_eef_9d.8", | |
| "right_wrist_eef_9d.0", | |
| "right_wrist_eef_9d.1", | |
| "right_wrist_eef_9d.2", | |
| "right_wrist_eef_9d.3", | |
| "right_wrist_eef_9d.4", | |
| "right_wrist_eef_9d.5", | |
| "right_wrist_eef_9d.6", | |
| "right_wrist_eef_9d.7", | |
| "right_wrist_eef_9d.8", | |
| "left_hand.0", | |
| "left_hand.1", | |
| "left_hand.2", | |
| "left_hand.3", | |
| "left_hand.4", | |
| "left_hand.5", | |
| "left_hand.6", | |
| "right_hand.0", | |
| "right_hand.1", | |
| "right_hand.2", | |
| "right_hand.3", | |
| "right_hand.4", | |
| "right_hand.5", | |
| "right_hand.6", | |
| "left_arm.0", | |
| "left_arm.1", | |
| "left_arm.2", | |
| "left_arm.3", | |
| "left_arm.4", | |
| "left_arm.5", | |
| "left_arm.6", | |
| "right_arm.0", | |
| "right_arm.1", | |
| "right_arm.2", | |
| "right_arm.3", | |
| "right_arm.4", | |
| "right_arm.5", | |
| "right_arm.6", | |
| "waist.0", | |
| "waist.1", | |
| "waist.2" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 53 | |
| ], | |
| "names": [ | |
| "left_wrist_eef_9d.0", | |
| "left_wrist_eef_9d.1", | |
| "left_wrist_eef_9d.2", | |
| "left_wrist_eef_9d.3", | |
| "left_wrist_eef_9d.4", | |
| "left_wrist_eef_9d.5", | |
| "left_wrist_eef_9d.6", | |
| "left_wrist_eef_9d.7", | |
| "left_wrist_eef_9d.8", | |
| "right_wrist_eef_9d.0", | |
| "right_wrist_eef_9d.1", | |
| "right_wrist_eef_9d.2", | |
| "right_wrist_eef_9d.3", | |
| "right_wrist_eef_9d.4", | |
| "right_wrist_eef_9d.5", | |
| "right_wrist_eef_9d.6", | |
| "right_wrist_eef_9d.7", | |
| "right_wrist_eef_9d.8", | |
| "left_hand.0", | |
| "left_hand.1", | |
| "left_hand.2", | |
| "left_hand.3", | |
| "left_hand.4", | |
| "left_hand.5", | |
| "left_hand.6", | |
| "right_hand.0", | |
| "right_hand.1", | |
| "right_hand.2", | |
| "right_hand.3", | |
| "right_hand.4", | |
| "right_hand.5", | |
| "right_hand.6", | |
| "left_arm.0", | |
| "left_arm.1", | |
| "left_arm.2", | |
| "left_arm.3", | |
| "left_arm.4", | |
| "left_arm.5", | |
| "left_arm.6", | |
| "right_arm.0", | |
| "right_arm.1", | |
| "right_arm.2", | |
| "right_arm.3", | |
| "right_arm.4", | |
| "right_arm.5", | |
| "right_arm.6", | |
| "waist.0", | |
| "waist.1", | |
| "waist.2", | |
| "base_height_command.0", | |
| "navigate_command.0", | |
| "navigate_command.1", | |
| "navigate_command.2" | |
| ] | |
| }, | |
| "observation.images.ego_view": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 1280, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 1280, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "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 | |
| } | |
| } | |
| } |