| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "multi_robot_dynamic", | |
| "total_episodes": 2, | |
| "total_frames": 400, | |
| "total_tasks": 1, | |
| "total_videos": 2, | |
| "total_chunks": 1, | |
| "chunks_size": 2, | |
| "fps": 20.8, | |
| "splits": { | |
| "train": "0:1" | |
| }, | |
| "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": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "joint_7", | |
| "joint_8", | |
| "joint_9", | |
| "joint_10", | |
| "joint_11", | |
| "joint_12", | |
| "joint_13", | |
| "joint_14", | |
| "joint_15", | |
| "joint_16", | |
| "joint_17", | |
| "joint_18", | |
| "joint_19", | |
| "joint_20", | |
| "joint_21", | |
| "joint_22", | |
| "joint_23", | |
| "joint_24", | |
| "joint_25", | |
| "joint_26", | |
| "joint_27", | |
| "joint_28", | |
| "joint_29", | |
| "joint_30", | |
| "joint_31", | |
| "joint_32", | |
| "joint_33" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 34 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "joint_7", | |
| "joint_8", | |
| "joint_9", | |
| "joint_10", | |
| "joint_11", | |
| "joint_12", | |
| "joint_13", | |
| "joint_14", | |
| "joint_15", | |
| "joint_16", | |
| "joint_17", | |
| "joint_18", | |
| "joint_19", | |
| "joint_20", | |
| "joint_21", | |
| "joint_22", | |
| "joint_23", | |
| "joint_24", | |
| "joint_25", | |
| "joint_26", | |
| "joint_27", | |
| "joint_28", | |
| "joint_29", | |
| "joint_30", | |
| "joint_31", | |
| "joint_32", | |
| "joint_33" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |