| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "hsr", | |
| "total_episodes": 38, | |
| "total_frames": 12064, | |
| "total_tasks": 1, | |
| "total_videos": 76, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:38" | |
| }, | |
| "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.image.head": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.fps": 10, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": "false", | |
| "has_audio": "false" | |
| } | |
| }, | |
| "observation.image.hand": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.fps": 10, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": "false", | |
| "has_audio": "false" | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": [ | |
| "arm_lift_joint", | |
| "arm_flex_joint", | |
| "arm_roll_joint", | |
| "wrist_flex_joint", | |
| "wrist_roll_joint", | |
| "hand_motor_joint", | |
| "head_pan_joint", | |
| "head_tilt_joint" | |
| ] | |
| }, | |
| "observation.wrench.wrist": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 60 | |
| ], | |
| "names": [ | |
| "force_x_0", | |
| "force_y_0", | |
| "force_z_0", | |
| "torque_x_0", | |
| "torque_y_0", | |
| "torque_z_0", | |
| "force_x_1", | |
| "force_y_1", | |
| "force_z_1", | |
| "torque_x_1", | |
| "torque_y_1", | |
| "torque_z_1", | |
| "force_x_2", | |
| "force_y_2", | |
| "force_z_2", | |
| "torque_x_2", | |
| "torque_y_2", | |
| "torque_z_2", | |
| "force_x_3", | |
| "force_y_3", | |
| "force_z_3", | |
| "torque_x_3", | |
| "torque_y_3", | |
| "torque_z_3", | |
| "force_x_4", | |
| "force_y_4", | |
| "force_z_4", | |
| "torque_x_4", | |
| "torque_y_4", | |
| "torque_z_4", | |
| "force_x_5", | |
| "force_y_5", | |
| "force_z_5", | |
| "torque_x_5", | |
| "torque_y_5", | |
| "torque_z_5", | |
| "force_x_6", | |
| "force_y_6", | |
| "force_z_6", | |
| "torque_x_6", | |
| "torque_y_6", | |
| "torque_z_6", | |
| "force_x_7", | |
| "force_y_7", | |
| "force_z_7", | |
| "torque_x_7", | |
| "torque_y_7", | |
| "torque_z_7", | |
| "force_x_8", | |
| "force_y_8", | |
| "force_z_8", | |
| "torque_x_8", | |
| "torque_y_8", | |
| "torque_z_8", | |
| "force_x_9", | |
| "force_y_9", | |
| "force_z_9", | |
| "torque_x_9", | |
| "torque_y_9", | |
| "torque_z_9" | |
| ], | |
| "description": "Wrist wrench data (force and torque) with 100Hz history (10 samples per frame, flattened)" | |
| }, | |
| "action.absolute": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": [ | |
| "arm_lift_joint", | |
| "arm_flex_joint", | |
| "arm_roll_joint", | |
| "wrist_flex_joint", | |
| "wrist_roll_joint", | |
| "hand_motor_joint", | |
| "head_pan_joint", | |
| "head_tilt_joint" | |
| ], | |
| "description": "absolute action for all joints without hand_motor_joint(gripper)" | |
| }, | |
| "action.relative": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 11 | |
| ], | |
| "names": [ | |
| "arm_lift_joint", | |
| "arm_flex_joint", | |
| "arm_roll_joint", | |
| "wrist_flex_joint", | |
| "wrist_roll_joint", | |
| "hand_motor_joint", | |
| "head_pan_joint", | |
| "head_tilt_joint", | |
| "base_x", | |
| "base_y", | |
| "base_t" | |
| ], | |
| "description": "delta action for all joints and base without hand_motor_joint(gripper)" | |
| }, | |
| "action.arm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 5 | |
| ], | |
| "names": [ | |
| "arm_lift_joint", | |
| "arm_flex_joint", | |
| "arm_roll_joint", | |
| "wrist_flex_joint", | |
| "wrist_roll_joint" | |
| ], | |
| "description": "absolute action for arm joints" | |
| }, | |
| "action.gripper": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "hand_motor_joint" | |
| ], | |
| "description": "absolute action for gripper" | |
| }, | |
| "action.head": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 2 | |
| ], | |
| "names": [ | |
| "head_pan_joint", | |
| "head_tilt_joint" | |
| ], | |
| "description": "absolute action for head joints" | |
| }, | |
| "action.base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "base_x", | |
| "base_y", | |
| "base_t" | |
| ], | |
| "description": "delta action for base" | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
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| "shape": [ | |
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| "names": null | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
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| ], | |
| "names": null | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "index": { | |
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| "names": null | |
| }, | |
| "task_index": { | |
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| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| } | |
| } |