| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "g1", | |
| "total_episodes": 8, | |
| "total_frames": 2831, | |
| "fps": 30.0, | |
| "splits": { | |
| "train": "0:8" | |
| }, | |
| "data_path": "data/chunk-000/episode_{episode_index:06d}.parquet", | |
| "video_path": "videos/chunk-000/{camera_key}/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 40 | |
| ], | |
| "names": [ | |
| "joint0", | |
| "joint1", | |
| "joint2", | |
| "joint3", | |
| "joint4", | |
| "joint5", | |
| "joint6", | |
| "joint7", | |
| "joint8", | |
| "joint9", | |
| "joint10", | |
| "joint11", | |
| "joint12", | |
| "joint13", | |
| "joint14", | |
| "joint15", | |
| "joint16", | |
| "joint17", | |
| "joint18", | |
| "joint19", | |
| "joint20", | |
| "joint21", | |
| "joint22", | |
| "joint23", | |
| "joint24", | |
| "joint25", | |
| "joint26", | |
| "joint27", | |
| "joint28", | |
| "joint29", | |
| "joint30", | |
| "joint31", | |
| "joint32", | |
| "joint33", | |
| "joint34", | |
| "joint35", | |
| "joint36", | |
| "joint37", | |
| "joint38", | |
| "joint39" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 32 | |
| ], | |
| "names": [ | |
| "action0", | |
| "action1", | |
| "action2", | |
| "action3", | |
| "action4", | |
| "action5", | |
| "action6", | |
| "action7", | |
| "action8", | |
| "action9", | |
| "action10", | |
| "action11", | |
| "action12", | |
| "action13", | |
| "action14", | |
| "action15", | |
| "action16", | |
| "action17", | |
| "action18", | |
| "action19", | |
| "action20", | |
| "action21", | |
| "action22", | |
| "action23", | |
| "action24", | |
| "action25", | |
| "action26", | |
| "action27", | |
| "action28", | |
| "action29", | |
| "action30", | |
| "action31" | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64" | |
| }, | |
| "frame_index": { | |
| "dtype": "int64" | |
| }, | |
| "timestamp": { | |
| "dtype": "float32" | |
| }, | |
| "next.done": { | |
| "dtype": "bool" | |
| }, | |
| "next.reward": { | |
| "dtype": "float32" | |
| }, | |
| "annotation.human.action.task_description": { | |
| "dtype": "string" | |
| }, | |
| "index": { | |
| "dtype": "int64" | |
| } | |
| } | |
| } |