| { |
| "codebase_version": "v3.0", |
| "robot_type": "humanoid", |
| "total_episodes": 184, |
| "total_frames": 198927, |
| "total_tasks": 3, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 24, |
| "splits": { |
| "train": "0:184" |
| }, |
| "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", |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 45 |
| ], |
| "names": [ |
| "root_pos_x", |
| "root_pos_y", |
| "root_pos_z", |
| "root_rot6_r11", |
| "root_rot6_r21", |
| "root_rot6_r31", |
| "root_rot6_r12", |
| "root_rot6_r22", |
| "root_rot6_r32", |
| "right_hand_pos_x", |
| "right_hand_pos_y", |
| "right_hand_pos_z", |
| "right_hand_rot_roll", |
| "right_hand_rot_pitch", |
| "right_hand_rot_yaw", |
| "dof_pos_right_index_proximal_joint", |
| "dof_pos_right_index_distal_joint", |
| "dof_pos_right_middle_proximal_joint", |
| "dof_pos_right_middle_distal_joint", |
| "dof_pos_right_pinky_proximal_joint", |
| "dof_pos_right_pinky_distal_joint", |
| "dof_pos_right_ring_proximal_joint", |
| "dof_pos_right_ring_distal_joint", |
| "dof_pos_right_thumb_metacarpal_joint", |
| "dof_pos_right_thumb_proximal_joint", |
| "dof_pos_right_thumb_distal_joint", |
| "left_hand_pos_x", |
| "left_hand_pos_y", |
| "left_hand_pos_z", |
| "left_hand_rot_roll", |
| "left_hand_rot_pitch", |
| "left_hand_rot_yaw", |
| "dof_pos_left_index_proximal_joint", |
| "dof_pos_left_index_distal_joint", |
| "dof_pos_left_middle_proximal_joint", |
| "dof_pos_left_middle_distal_joint", |
| "dof_pos_left_pinky_proximal_joint", |
| "dof_pos_left_pinky_distal_joint", |
| "dof_pos_left_ring_proximal_joint", |
| "dof_pos_left_ring_distal_joint", |
| "dof_pos_left_thumb_metacarpal_joint", |
| "dof_pos_left_thumb_proximal_joint", |
| "dof_pos_left_thumb_distal_joint", |
| "dof_pos_head_pitch_joint", |
| "dof_pos_head_yaw_joint" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 45 |
| ], |
| "names": [ |
| "action_root_pos_x", |
| "action_root_pos_y", |
| "action_root_pos_z", |
| "action_root_rot6_r11", |
| "action_root_rot6_r21", |
| "action_root_rot6_r31", |
| "action_root_rot6_r12", |
| "action_root_rot6_r22", |
| "action_root_rot6_r32", |
| "action_right_hand_pos_x", |
| "action_right_hand_pos_y", |
| "action_right_hand_pos_z", |
| "action_right_hand_rot_roll", |
| "action_right_hand_rot_pitch", |
| "action_right_hand_rot_yaw", |
| "action_dof_pos_right_index_proximal_joint", |
| "action_dof_pos_right_index_distal_joint", |
| "action_dof_pos_right_middle_proximal_joint", |
| "action_dof_pos_right_middle_distal_joint", |
| "action_dof_pos_right_pinky_proximal_joint", |
| "action_dof_pos_right_pinky_distal_joint", |
| "action_dof_pos_right_ring_proximal_joint", |
| "action_dof_pos_right_ring_distal_joint", |
| "action_dof_pos_right_thumb_metacarpal_joint", |
| "action_dof_pos_right_thumb_proximal_joint", |
| "action_dof_pos_right_thumb_distal_joint", |
| "action_left_hand_pos_x", |
| "action_left_hand_pos_y", |
| "action_left_hand_pos_z", |
| "action_left_hand_rot_roll", |
| "action_left_hand_rot_pitch", |
| "action_left_hand_rot_yaw", |
| "action_dof_pos_left_index_proximal_joint", |
| "action_dof_pos_left_index_distal_joint", |
| "action_dof_pos_left_middle_proximal_joint", |
| "action_dof_pos_left_middle_distal_joint", |
| "action_dof_pos_left_pinky_proximal_joint", |
| "action_dof_pos_left_pinky_distal_joint", |
| "action_dof_pos_left_ring_proximal_joint", |
| "action_dof_pos_left_ring_distal_joint", |
| "action_dof_pos_left_thumb_metacarpal_joint", |
| "action_dof_pos_left_thumb_proximal_joint", |
| "action_dof_pos_left_thumb_distal_joint", |
| "action_dof_pos_head_pitch_joint", |
| "action_dof_pos_head_yaw_joint" |
| ] |
| }, |
| "observation.images.head": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ] |
| }, |
| "observation.images.neck": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ] |
| }, |
| "language_instruction": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "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 |
| } |
| } |
| } |
