| { |
| "codebase_version": "v2.1", |
| "robot_type": "h1_humanoid", |
| "fps": 50, |
| "total_episodes": 35, |
| "total_frames": 87135, |
| "chunks_size": 35, |
| "total_chunks": 1, |
| "data_path": "data/chunk-{episode_chunk:03d}/file-{episode_index:03d}.parquet", |
| "features": { |
| "observation.qpos": { |
| "dtype": "float32", |
| "shape": [ |
| 30 |
| ], |
| "description": "Full joint positions (29 dims)", |
| "names": [ |
| "left_hip_yaw", |
| "left_hip_roll", |
| "left_hip_pitch", |
| "left_knee", |
| "left_ankle", |
| "right_hip_yaw", |
| "right_hip_roll", |
| "right_hip_pitch", |
| "right_knee", |
| "right_ankle", |
| "torso", |
| "left_shoulder_pitch", |
| "left_shoulder_roll", |
| "left_shoulder_yaw", |
| "left_elbow", |
| "left_wrist", |
| "right_shoulder_pitch", |
| "right_shoulder_roll", |
| "right_shoulder_yaw", |
| "right_elbow", |
| "right_wrist", |
| "joint_22", |
| "joint_23", |
| "joint_24", |
| "joint_25", |
| "joint_26", |
| "joint_27", |
| "joint_28" |
| ] |
| }, |
| "observation.qvel": { |
| "dtype": "float32", |
| "shape": [ |
| 30 |
| ], |
| "description": "Full joint velocities (29 dims)", |
| "names": [ |
| "left_hip_yaw", |
| "left_hip_roll", |
| "left_hip_pitch", |
| "left_knee", |
| "left_ankle", |
| "right_hip_yaw", |
| "right_hip_roll", |
| "right_hip_pitch", |
| "right_knee", |
| "right_ankle", |
| "torso", |
| "left_shoulder_pitch", |
| "left_shoulder_roll", |
| "left_shoulder_yaw", |
| "left_elbow", |
| "left_wrist", |
| "right_shoulder_pitch", |
| "right_shoulder_roll", |
| "right_shoulder_yaw", |
| "right_elbow", |
| "right_wrist", |
| "joint_22", |
| "joint_23", |
| "joint_24", |
| "joint_25", |
| "joint_26", |
| "joint_27", |
| "joint_28" |
| ] |
| }, |
| "observation.gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 2 |
| ], |
| "description": "Gripper states (2 dims)", |
| "names": [ |
| "left_gripper", |
| "right_gripper" |
| ] |
| }, |
| "observation.floating_base": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "description": "Floating base position (4 dims with 4-DOF)", |
| "names": [ |
| "pelvis_x", |
| "pelvis_y", |
| "pelvis_z", |
| "pelvis_rz" |
| ] |
| }, |
| "observation.floating_base_actions": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "description": "Accumulated floating base actions since reset (4 dims with 4-DOF)", |
| "names": [ |
| "acc_pelvis_x", |
| "acc_pelvis_y", |
| "acc_pelvis_z", |
| "acc_pelvis_rz" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "description": "Policy state input (16 dims, matches action structure)", |
| "names": [ |
| "floating_base_x", |
| "floating_base_y", |
| "floating_base_z", |
| "floating_base_rz", |
| "left_shoulder_pitch", |
| "left_shoulder_roll", |
| "left_shoulder_yaw", |
| "left_elbow", |
| "left_wrist", |
| "right_shoulder_pitch", |
| "right_shoulder_roll", |
| "right_shoulder_yaw", |
| "right_elbow", |
| "right_wrist", |
| "left_gripper", |
| "right_gripper" |
| ], |
| "structure": "[floating_base(4), left_arm(5), right_arm(5), grippers(2)]" |
| }, |
| "observation.state_arm": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ], |
| "description": "Arm-only state (12 dims, no floating base)", |
| "names": [ |
| "left_shoulder_pitch", |
| "left_shoulder_roll", |
| "left_shoulder_yaw", |
| "left_elbow", |
| "left_wrist", |
| "right_shoulder_pitch", |
| "right_shoulder_roll", |
| "right_shoulder_yaw", |
| "right_elbow", |
| "right_wrist", |
| "left_gripper", |
| "right_gripper" |
| ], |
| "structure": "[left_arm(5), right_arm(5), grippers(2)]" |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "description": "Full action (16 dims)", |
| "names": [ |
| "floating_base_x", |
| "floating_base_y", |
| "floating_base_z", |
| "floating_base_rz", |
| "left_shoulder_pitch", |
| "left_shoulder_roll", |
| "left_shoulder_yaw", |
| "left_elbow", |
| "left_wrist", |
| "right_shoulder_pitch", |
| "right_shoulder_roll", |
| "right_shoulder_yaw", |
| "right_elbow", |
| "right_wrist", |
| "left_gripper", |
| "right_gripper" |
| ], |
| "structure": "[floating_base(4), left_arm(5), right_arm(5), grippers(2)]" |
| }, |
| "action.floating_base": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "description": "Floating base action (4 dims)", |
| "names": [ |
| "floating_base_x", |
| "floating_base_y", |
| "floating_base_z", |
| "floating_base_rz" |
| ] |
| }, |
| "action.arms": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ], |
| "description": "Arms + grippers action (12 dims)", |
| "names": [ |
| "left_shoulder_pitch", |
| "left_shoulder_roll", |
| "left_shoulder_yaw", |
| "left_elbow", |
| "left_wrist", |
| "right_shoulder_pitch", |
| "right_shoulder_roll", |
| "right_shoulder_yaw", |
| "right_elbow", |
| "right_wrist", |
| "left_gripper", |
| "right_gripper" |
| ], |
| "structure": "[left_arm(5), right_arm(5), grippers(2)]" |
| }, |
| "observation.images.head": { |
| "dtype": "image", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "description": "head camera RGB image" |
| }, |
| "observation.images.left_wrist": { |
| "dtype": "image", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "description": "left_wrist camera RGB image" |
| }, |
| "observation.images.right_wrist": { |
| "dtype": "image", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "description": "right_wrist camera RGB image" |
| } |
| }, |
| "task_name": "StackBlocks", |
| "splits": { |
| "train": "0:35" |
| }, |
| "dimension_info": { |
| "action_total": 16, |
| "action_floating_base": 4, |
| "action_arms": 12, |
| "obs_qpos": 30, |
| "obs_qvel": 30, |
| "obs_gripper": 2, |
| "obs_floating_base": 4, |
| "obs_floating_base_actions": 4, |
| "state_total": 16, |
| "state_arm": 12 |
| } |
| } |
