| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "hsr", | |
| "total_episodes": 16, | |
| "total_frames": 6266, | |
| "total_tasks": 1, | |
| "total_videos": 32, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:16" | |
| }, | |
| "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": { | |
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| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
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| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": "false", | |
| "has_audio": "false" | |
| } | |
| }, | |
| "observation.image.hand": { | |
| "dtype": "video", | |
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| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
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| "info": { | |
| "video.fps": 10, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": "false", | |
| "has_audio": "false" | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
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| ], | |
| "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.wrist.wrench": { | |
| "dtype": "float32", | |
| "shape": [ | |
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| ], | |
| "names": [ | |
| "force_x", | |
| "force_y", | |
| "force_z", | |
| "torque_x", | |
| "torque_y", | |
| "torque_z" | |
| ], | |
| "description": "Wrist wrench data (force and torque) flattened" | |
| }, | |
| "observation.end_effector_pose.absolute": { | |
| "shape": [ | |
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| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
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| }, | |
| "observation.end_effector_pose.relative": { | |
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| 6 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
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| }, | |
| "action.absolute": { | |
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| ], | |
| "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" | |
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| "description": "absolute action for arm joints" | |
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| "action.gripper": { | |
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| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "hand_motor_joint" | |
| ], | |
| "description": "absolute action for gripper" | |
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| "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" | |
| }, | |
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| 3, | |
| 1, | |
| 1 | |
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| "names": null | |
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| "observation.image.hand.is_fresh": { | |
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| 1, | |
| 1 | |
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| "names": null | |
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| 8 | |
| ], | |
| "names": null | |
| }, | |
| "action.absolute.is_fresh": { | |
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| 8 | |
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| "names": null | |
| }, | |
| "action.relative.is_fresh": { | |
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| 11 | |
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| "names": null | |
| }, | |
| "action.arm.is_fresh": { | |
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| ], | |
| "names": null | |
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| "action.gripper.is_fresh": { | |
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| 1 | |
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| }, | |
| "action.head.is_fresh": { | |
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| 2 | |
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| }, | |
| "action.base.is_fresh": { | |
| "dtype": "bool", | |
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| 3 | |
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| "names": null | |
| }, | |
| "episode_index": { | |
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| "names": null | |
| }, | |
| "frame_index": { | |
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| "timestamp": { | |
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| "index": { | |
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| }, | |
| "short_horizon_task_index": { | |
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| }, | |
| "primitive_action_index": { | |
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| "names": null | |
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| "success_primitive_action": { | |
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| } | |
| } |