| { |
| "codebase_version": "v2.1", |
| "robot_type": "robot_from_subset_bag", |
| "total_episodes": 9, |
| "total_frames": 2905, |
| "total_tasks": 1, |
| "total_videos": 0, |
| "total_chunks": 1, |
| "chunks_size": 2905, |
| "fps": 100.03472612825804, |
| "splits": { |
| "train": "0:9" |
| }, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 34 |
| ], |
| "names": [ |
| "arm1_shoulder_lift_joint", |
| "arm1_elbow_joint", |
| "arm1_wrist_1_joint", |
| "arm1_wrist_2_joint", |
| "arm2_wrist_3_joint", |
| "arm1_wrist_3_joint", |
| "arm2_3f_finger_b_joint_3", |
| "arm1_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_b_joint", |
| "arm2_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_c_joint", |
| "arm1_3f_finger_c_joint_2", |
| "arm2_3f_finger_a_joint_3", |
| "arm2_3f_finger_c_joint_2", |
| "arm1_3f_finger_b_joint_2", |
| "arm2_3f_finger_c_joint_1", |
| "arm2_wrist_2_joint", |
| "arm1_shoulder_pan_joint", |
| "arm1_3f_finger_c_joint_1", |
| "arm2_3f_finger_b_joint_1", |
| "arm2_shoulder_pan_joint", |
| "arm1_3f_finger_b_joint_3", |
| "arm1_3f_finger_b_joint_1", |
| "arm2_3f_finger_a_joint_2", |
| "arm1_3f_palm_finger_b_joint", |
| "arm1_3f_finger_a_joint_3", |
| "arm2_elbow_joint", |
| "arm1_3f_finger_a_joint_1", |
| "arm2_shoulder_lift_joint", |
| "arm2_3f_finger_b_joint_2", |
| "arm2_3f_finger_a_joint_1", |
| "arm1_3f_palm_finger_c_joint", |
| "arm1_3f_finger_a_joint_2", |
| "arm2_wrist_1_joint" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 34 |
| ], |
| "names": [ |
| "arm1_shoulder_lift_joint", |
| "arm1_elbow_joint", |
| "arm1_wrist_1_joint", |
| "arm1_wrist_2_joint", |
| "arm2_wrist_3_joint", |
| "arm1_wrist_3_joint", |
| "arm2_3f_finger_b_joint_3", |
| "arm1_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_b_joint", |
| "arm2_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_c_joint", |
| "arm1_3f_finger_c_joint_2", |
| "arm2_3f_finger_a_joint_3", |
| "arm2_3f_finger_c_joint_2", |
| "arm1_3f_finger_b_joint_2", |
| "arm2_3f_finger_c_joint_1", |
| "arm2_wrist_2_joint", |
| "arm1_shoulder_pan_joint", |
| "arm1_3f_finger_c_joint_1", |
| "arm2_3f_finger_b_joint_1", |
| "arm2_shoulder_pan_joint", |
| "arm1_3f_finger_b_joint_3", |
| "arm1_3f_finger_b_joint_1", |
| "arm2_3f_finger_a_joint_2", |
| "arm1_3f_palm_finger_b_joint", |
| "arm1_3f_finger_a_joint_3", |
| "arm2_elbow_joint", |
| "arm1_3f_finger_a_joint_1", |
| "arm2_shoulder_lift_joint", |
| "arm2_3f_finger_b_joint_2", |
| "arm2_3f_finger_a_joint_1", |
| "arm1_3f_palm_finger_c_joint", |
| "arm1_3f_finger_a_joint_2", |
| "arm2_wrist_1_joint" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
