| { | |
| "codebase_version": "v2.1", | |
| "data_path": "data/chunk-{chunk:03d}/episode_{episode:06d}.parquet", | |
| "video_path": "videos/chunk-{chunk:03d}/{video_key}/episode_{episode:06d}.mp4", | |
| "fps": 30.0, | |
| "robot_type": "h1_shadow_hand", | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 48 | |
| ], | |
| "names": [ | |
| "left_shoulder_pitch", | |
| "left_shoulder_roll", | |
| "left_shoulder_yaw", | |
| "left_elbow", | |
| "left_wrist_yaw", | |
| "right_shoulder_pitch", | |
| "right_shoulder_roll", | |
| "right_shoulder_yaw", | |
| "right_elbow", | |
| "right_wrist_yaw", | |
| "lh_WRJ1", | |
| "lh_WRJ2", | |
| "lh_FFJ3", | |
| "lh_FFJ2", | |
| "lh_FFJ1", | |
| "lh_MFJ3", | |
| "lh_MFJ2", | |
| "lh_MFJ1", | |
| "lh_RFJ3", | |
| "lh_RFJ2", | |
| "lh_RFJ1", | |
| "lh_LFJ3", | |
| "lh_LFJ2", | |
| "lh_LFJ1", | |
| "lh_THJ5", | |
| "lh_THJ4", | |
| "lh_THJ3", | |
| "lh_THJ2", | |
| "lh_THJ1", | |
| "rh_WRJ1", | |
| "rh_WRJ2", | |
| "rh_FFJ3", | |
| "rh_FFJ2", | |
| "rh_FFJ1", | |
| "rh_MFJ3", | |
| "rh_MFJ2", | |
| "rh_MFJ1", | |
| "rh_RFJ3", | |
| "rh_RFJ2", | |
| "rh_RFJ1", | |
| "rh_LFJ3", | |
| "rh_LFJ2", | |
| "rh_LFJ1", | |
| "rh_THJ5", | |
| "rh_THJ4", | |
| "rh_THJ3", | |
| "rh_THJ2", | |
| "rh_THJ1" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 48 | |
| ], | |
| "names": [ | |
| "left_shoulder_pitch", | |
| "left_shoulder_roll", | |
| "left_shoulder_yaw", | |
| "left_elbow", | |
| "left_wrist_yaw", | |
| "right_shoulder_pitch", | |
| "right_shoulder_roll", | |
| "right_shoulder_yaw", | |
| "right_elbow", | |
| "right_wrist_yaw", | |
| "lh_WRJ1", | |
| "lh_WRJ2", | |
| "lh_FFJ3", | |
| "lh_FFJ2", | |
| "lh_FFJ1", | |
| "lh_MFJ3", | |
| "lh_MFJ2", | |
| "lh_MFJ1", | |
| "lh_RFJ3", | |
| "lh_RFJ2", | |
| "lh_RFJ1", | |
| "lh_LFJ3", | |
| "lh_LFJ2", | |
| "lh_LFJ1", | |
| "lh_THJ5", | |
| "lh_THJ4", | |
| "lh_THJ3", | |
| "lh_THJ2", | |
| "lh_THJ1", | |
| "rh_WRJ1", | |
| "rh_WRJ2", | |
| "rh_FFJ3", | |
| "rh_FFJ2", | |
| "rh_FFJ1", | |
| "rh_MFJ3", | |
| "rh_MFJ2", | |
| "rh_MFJ1", | |
| "rh_RFJ3", | |
| "rh_RFJ2", | |
| "rh_RFJ1", | |
| "rh_LFJ3", | |
| "rh_LFJ2", | |
| "rh_LFJ1", | |
| "rh_THJ5", | |
| "rh_THJ4", | |
| "rh_THJ3", | |
| "rh_THJ2", | |
| "rh_THJ1" | |
| ] | |
| }, | |
| "observation.images.sim": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.codec": "mp4v" | |
| } | |
| }, | |
| "observation.images.ego": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.codec": "mp4v" | |
| } | |
| } | |
| }, | |
| "splits": { | |
| "train": "0:294" | |
| }, | |
| "total_episodes": 1, | |
| "total_frames": 294, | |
| "chunks_size": 1000, | |
| "encoding": { | |
| "vcodec": "mp4v", | |
| "pix_fmt": "yuv420p" | |
| } | |
| } |