| { |
| "codebase_version": "v3.0", |
| "robot_type": "gr1", |
| "total_episodes": 10, |
| "total_frames": 418, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "fps": 50, |
| "splits": { |
| "train": "0:100" |
| }, |
| "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.images.ego_view": { |
| "dtype": "video", |
| "shape": [ |
| 512, |
| 512, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.width": 512, |
| "video.height": 512, |
| "video.fps": 50.0, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.channels": 3, |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 26 |
| ], |
| "names": [ |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_pitch_joint", |
| "left_wrist_yaw_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_pitch_joint", |
| "right_wrist_yaw_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "L_pinky_proximal_joint", |
| "L_ring_proximal_joint", |
| "L_middle_proximal_joint", |
| "L_index_proximal_joint", |
| "L_thumb_proximal_yaw_joint", |
| "L_thumb_proximal_pitch_joint", |
| "R_pinky_proximal_joint", |
| "R_ring_proximal_joint", |
| "R_middle_proximal_joint", |
| "R_index_proximal_joint", |
| "R_thumb_proximal_yaw_joint", |
| "R_thumb_proximal_pitch_joint" |
| ], |
| "fps": 50 |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 26 |
| ], |
| "names": [ |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_pitch_joint", |
| "left_wrist_yaw_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_pitch_joint", |
| "right_wrist_yaw_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "L_pinky_proximal_joint", |
| "L_ring_proximal_joint", |
| "L_middle_proximal_joint", |
| "L_index_proximal_joint", |
| "L_thumb_proximal_yaw_joint", |
| "L_thumb_proximal_pitch_joint", |
| "R_pinky_proximal_joint", |
| "R_ring_proximal_joint", |
| "R_middle_proximal_joint", |
| "R_index_proximal_joint", |
| "R_thumb_proximal_yaw_joint", |
| "R_thumb_proximal_pitch_joint" |
| ], |
| "fps": 50 |
| }, |
| "timestamp": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "fps": 50 |
| }, |
| "annotation.human.action.task_description": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "fps": 50 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "fps": 50 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "fps": 50 |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "fps": 50 |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "fps": 50 |
| }, |
| "next.reward": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "fps": 50 |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "fps": 50 |
| }, |
| "observation.img_state_delta": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "fps": 50 |
| } |
| }, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200 |
| } |
