| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "dual_arm_robot", | |
| "total_episodes": 1, | |
| "total_frames": 3105, | |
| "total_tasks": 1, | |
| "total_videos": 0, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "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": { | |
| "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" | |
| ] | |
| }, | |
| "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.velocity": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 34 | |
| ], | |
| "names": [ | |
| "arm1_shoulder_lift_joint_vel", | |
| "arm1_elbow_joint_vel", | |
| "arm1_wrist_1_joint_vel", | |
| "arm1_wrist_2_joint_vel", | |
| "arm2_wrist_3_joint_vel", | |
| "arm1_wrist_3_joint_vel", | |
| "arm2_3f_finger_b_joint_3_vel", | |
| "arm1_3f_finger_c_joint_3_vel", | |
| "arm2_3f_palm_finger_b_joint_vel", | |
| "arm2_3f_finger_c_joint_3_vel", | |
| "arm2_3f_palm_finger_c_joint_vel", | |
| "arm1_3f_finger_c_joint_2_vel", | |
| "arm2_3f_finger_a_joint_3_vel", | |
| "arm2_3f_finger_c_joint_2_vel", | |
| "arm1_3f_finger_b_joint_2_vel", | |
| "arm2_3f_finger_c_joint_1_vel", | |
| "arm2_wrist_2_joint_vel", | |
| "arm1_shoulder_pan_joint_vel", | |
| "arm1_3f_finger_c_joint_1_vel", | |
| "arm2_3f_finger_b_joint_1_vel", | |
| "arm2_shoulder_pan_joint_vel", | |
| "arm1_3f_finger_b_joint_3_vel", | |
| "arm1_3f_finger_b_joint_1_vel", | |
| "arm2_3f_finger_a_joint_2_vel", | |
| "arm1_3f_palm_finger_b_joint_vel", | |
| "arm1_3f_finger_a_joint_3_vel", | |
| "arm2_elbow_joint_vel", | |
| "arm1_3f_finger_a_joint_1_vel", | |
| "arm2_shoulder_lift_joint_vel", | |
| "arm2_3f_finger_b_joint_2_vel", | |
| "arm2_3f_finger_a_joint_1_vel", | |
| "arm1_3f_palm_finger_c_joint_vel", | |
| "arm1_3f_finger_a_joint_2_vel", | |
| "arm2_wrist_1_joint_vel" | |
| ] | |
| }, | |
| "observation.effort": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 34 | |
| ], | |
| "names": [ | |
| "arm1_shoulder_lift_joint_effort", | |
| "arm1_elbow_joint_effort", | |
| "arm1_wrist_1_joint_effort", | |
| "arm1_wrist_2_joint_effort", | |
| "arm2_wrist_3_joint_effort", | |
| "arm1_wrist_3_joint_effort", | |
| "arm2_3f_finger_b_joint_3_effort", | |
| "arm1_3f_finger_c_joint_3_effort", | |
| "arm2_3f_palm_finger_b_joint_effort", | |
| "arm2_3f_finger_c_joint_3_effort", | |
| "arm2_3f_palm_finger_c_joint_effort", | |
| "arm1_3f_finger_c_joint_2_effort", | |
| "arm2_3f_finger_a_joint_3_effort", | |
| "arm2_3f_finger_c_joint_2_effort", | |
| "arm1_3f_finger_b_joint_2_effort", | |
| "arm2_3f_finger_c_joint_1_effort", | |
| "arm2_wrist_2_joint_effort", | |
| "arm1_shoulder_pan_joint_effort", | |
| "arm1_3f_finger_c_joint_1_effort", | |
| "arm2_3f_finger_b_joint_1_effort", | |
| "arm2_shoulder_pan_joint_effort", | |
| "arm1_3f_finger_b_joint_3_effort", | |
| "arm1_3f_finger_b_joint_1_effort", | |
| "arm2_3f_finger_a_joint_2_effort", | |
| "arm1_3f_palm_finger_b_joint_effort", | |
| "arm1_3f_finger_a_joint_3_effort", | |
| "arm2_elbow_joint_effort", | |
| "arm1_3f_finger_a_joint_1_effort", | |
| "arm2_shoulder_lift_joint_effort", | |
| "arm2_3f_finger_b_joint_2_effort", | |
| "arm2_3f_finger_a_joint_1_effort", | |
| "arm1_3f_palm_finger_c_joint_effort", | |
| "arm1_3f_finger_a_joint_2_effort", | |
| "arm2_wrist_1_joint_effort" | |
| ] | |
| }, | |
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