| { |
| "codebase_version": "v3.0", |
| "robot_type": null, |
| "total_episodes": 1, |
| "total_frames": 2253, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 29.97, |
| "splits": { |
| "train": "0:1" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 295 |
| ], |
| "names": [ |
| "head_joint0_x", |
| "head_joint0_y", |
| "head_joint0_z", |
| "head_joint0_qw", |
| "head_joint0_qx", |
| "head_joint0_qy", |
| "head_joint0_qz", |
| "left_hand_joint0_x", |
| "left_hand_joint0_y", |
| "left_hand_joint0_z", |
| "left_hand_joint0_qw", |
| "left_hand_joint0_qx", |
| "left_hand_joint0_qy", |
| "left_hand_joint0_qz", |
| "left_hand_joint1_x", |
| "left_hand_joint1_y", |
| "left_hand_joint1_z", |
| "left_hand_joint2_x", |
| "left_hand_joint2_y", |
| "left_hand_joint2_z", |
| "left_hand_joint3_x", |
| "left_hand_joint3_y", |
| "left_hand_joint3_z", |
| "left_hand_joint4_x", |
| "left_hand_joint4_y", |
| "left_hand_joint4_z", |
| "left_hand_joint5_x", |
| "left_hand_joint5_y", |
| "left_hand_joint5_z", |
| "left_hand_joint6_x", |
| "left_hand_joint6_y", |
| "left_hand_joint6_z", |
| "left_hand_joint7_x", |
| "left_hand_joint7_y", |
| "left_hand_joint7_z", |
| "left_hand_joint8_x", |
| "left_hand_joint8_y", |
| "left_hand_joint8_z", |
| "left_hand_joint9_x", |
| "left_hand_joint9_y", |
| "left_hand_joint9_z", |
| "left_hand_joint10_x", |
| "left_hand_joint10_y", |
| "left_hand_joint10_z", |
| "left_hand_joint11_x", |
| "left_hand_joint11_y", |
| "left_hand_joint11_z", |
| "left_hand_joint12_x", |
| "left_hand_joint12_y", |
| "left_hand_joint12_z", |
| "left_hand_joint13_x", |
| "left_hand_joint13_y", |
| "left_hand_joint13_z", |
| "left_hand_joint14_x", |
| "left_hand_joint14_y", |
| "left_hand_joint14_z", |
| "left_hand_joint15_x", |
| "left_hand_joint15_y", |
| "left_hand_joint15_z", |
| "left_hand_joint16_x", |
| "left_hand_joint16_y", |
| "left_hand_joint16_z", |
| "left_hand_joint17_x", |
| "left_hand_joint17_y", |
| "left_hand_joint17_z", |
| "left_hand_joint18_x", |
| "left_hand_joint18_y", |
| "left_hand_joint18_z", |
| "left_hand_joint19_x", |
| "left_hand_joint19_y", |
| "left_hand_joint19_z", |
| "left_hand_joint20_x", |
| "left_hand_joint20_y", |
| "left_hand_joint20_z", |
| "right_hand_joint0_x", |
| "right_hand_joint0_y", |
| "right_hand_joint0_z", |
| "right_hand_joint0_qw", |
| "right_hand_joint0_qx", |
| "right_hand_joint0_qy", |
| "right_hand_joint0_qz", |
| "right_hand_joint1_x", |
| "right_hand_joint1_y", |
| "right_hand_joint1_z", |
| "right_hand_joint2_x", |
| "right_hand_joint2_y", |
| "right_hand_joint2_z", |
| "right_hand_joint3_x", |
| "right_hand_joint3_y", |
| "right_hand_joint3_z", |
| "right_hand_joint4_x", |
| "right_hand_joint4_y", |
| "right_hand_joint4_z", |
| "right_hand_joint5_x", |
| "right_hand_joint5_y", |
| "right_hand_joint5_z", |
| "right_hand_joint6_x", |
| "right_hand_joint6_y", |
| "right_hand_joint6_z", |
| "right_hand_joint7_x", |
| "right_hand_joint7_y", |
| "right_hand_joint7_z", |
| "right_hand_joint8_x", |
| "right_hand_joint8_y", |
| "right_hand_joint8_z", |
| "right_hand_joint9_x", |
| "right_hand_joint9_y", |
| "right_hand_joint9_z", |
| "right_hand_joint10_x", |
| "right_hand_joint10_y", |
| "right_hand_joint10_z", |
| "right_hand_joint11_x", |
| "right_hand_joint11_y", |
| "right_hand_joint11_z", |
| "right_hand_joint12_x", |
| "right_hand_joint12_y", |
| "right_hand_joint12_z", |
| "right_hand_joint13_x", |
| "right_hand_joint13_y", |
| "right_hand_joint13_z", |
| "right_hand_joint14_x", |
| "right_hand_joint14_y", |
| "right_hand_joint14_z", |
| "right_hand_joint15_x", |
| "right_hand_joint15_y", |
| "right_hand_joint15_z", |
| "right_hand_joint16_x", |
| "right_hand_joint16_y", |
| "right_hand_joint16_z", |
| "right_hand_joint17_x", |
| "right_hand_joint17_y", |
| "right_hand_joint17_z", |
| "right_hand_joint18_x", |
| "right_hand_joint18_y", |
| "right_hand_joint18_z", |
| "right_hand_joint19_x", |
| "right_hand_joint19_y", |
| "right_hand_joint19_z", |
| "right_hand_joint20_x", |
| "right_hand_joint20_y", |
| "right_hand_joint20_z", |
| "body_joint0_x", |
| "body_joint0_y", |
| "body_joint0_z", |
| "body_joint0_qw", |
| "body_joint0_qx", |
| "body_joint0_qy", |
| "body_joint0_qz", |
| "body_joint1_x", |
| "body_joint1_y", |
| "body_joint1_z", |
| "body_joint1_qw", |
| "body_joint1_qx", |
| "body_joint1_qy", |
| "body_joint1_qz", |
| "body_joint2_x", |
| "body_joint2_y", |
| "body_joint2_z", |
| "body_joint2_qw", |
| "body_joint2_qx", |
| "body_joint2_qy", |
| "body_joint2_qz", |
| "body_joint3_x", |
| "body_joint3_y", |
| "body_joint3_z", |
| "body_joint3_qw", |
| "body_joint3_qx", |
| "body_joint3_qy", |
| "body_joint3_qz", |
| "body_joint4_x", |
| "body_joint4_y", |
| "body_joint4_z", |
| "body_joint4_qw", |
| "body_joint4_qx", |
| "body_joint4_qy", |
| "body_joint4_qz", |
| "body_joint5_x", |
| "body_joint5_y", |
| "body_joint5_z", |
| "body_joint5_qw", |
| "body_joint5_qx", |
| "body_joint5_qy", |
| "body_joint5_qz", |
| "body_joint6_x", |
| "body_joint6_y", |
| "body_joint6_z", |
| "body_joint6_qw", |
| "body_joint6_qx", |
| "body_joint6_qy", |
| "body_joint6_qz", |
| "body_joint7_x", |
| "body_joint7_y", |
| "body_joint7_z", |
| "body_joint7_qw", |
| "body_joint7_qx", |
| "body_joint7_qy", |
| "body_joint7_qz", |
| "body_joint8_x", |
| "body_joint8_y", |
| "body_joint8_z", |
| "body_joint8_qw", |
| "body_joint8_qx", |
| "body_joint8_qy", |
| "body_joint8_qz", |
| "body_joint9_x", |
| "body_joint9_y", |
| "body_joint9_z", |
| "body_joint9_qw", |
| "body_joint9_qx", |
| "body_joint9_qy", |
| "body_joint9_qz", |
| "body_joint10_x", |
| "body_joint10_y", |
| "body_joint10_z", |
| "body_joint10_qw", |
| "body_joint10_qx", |
| "body_joint10_qy", |
| "body_joint10_qz", |
| "body_joint11_x", |
| "body_joint11_y", |
| "body_joint11_z", |
| "body_joint11_qw", |
| "body_joint11_qx", |
| "body_joint11_qy", |
| "body_joint11_qz", |
| "body_joint12_x", |
| "body_joint12_y", |
| "body_joint12_z", |
| "body_joint12_qw", |
| "body_joint12_qx", |
| "body_joint12_qy", |
| "body_joint12_qz", |
| "body_joint13_x", |
| "body_joint13_y", |
| "body_joint13_z", |
| "body_joint13_qw", |
| "body_joint13_qx", |
| "body_joint13_qy", |
| "body_joint13_qz", |
| "body_joint14_x", |
| "body_joint14_y", |
| "body_joint14_z", |
| "body_joint14_qw", |
| "body_joint14_qx", |
| "body_joint14_qy", |
| "body_joint14_qz", |
| "body_joint15_x", |
| "body_joint15_y", |
| "body_joint15_z", |
| "body_joint15_qw", |
| "body_joint15_qx", |
| "body_joint15_qy", |
| "body_joint15_qz", |
| "body_joint16_x", |
| "body_joint16_y", |
| "body_joint16_z", |
| "body_joint16_qw", |
| "body_joint16_qx", |
| "body_joint16_qy", |
| "body_joint16_qz", |
| "body_joint17_x", |
| "body_joint17_y", |
| "body_joint17_z", |
| "body_joint17_qw", |
| "body_joint17_qx", |
| "body_joint17_qy", |
| "body_joint17_qz", |
| "body_joint18_x", |
| "body_joint18_y", |
| "body_joint18_z", |
| "body_joint18_qw", |
| "body_joint18_qx", |
| "body_joint18_qy", |
| "body_joint18_qz", |
| "body_joint19_x", |
| "body_joint19_y", |
| "body_joint19_z", |
| "body_joint19_qw", |
| "body_joint19_qx", |
| "body_joint19_qy", |
| "body_joint19_qz", |
| "body_joint20_x", |
| "body_joint20_y", |
| "body_joint20_z", |
| "body_joint20_qw", |
| "body_joint20_qx", |
| "body_joint20_qy", |
| "body_joint20_qz", |
| "body_joint21_x", |
| "body_joint21_y", |
| "body_joint21_z", |
| "body_joint21_qw", |
| "body_joint21_qx", |
| "body_joint21_qy", |
| "body_joint21_qz" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 295 |
| ], |
| "names": [ |
| "head_joint0_x", |
| "head_joint0_y", |
| "head_joint0_z", |
| "head_joint0_qw", |
| "head_joint0_qx", |
| "head_joint0_qy", |
| "head_joint0_qz", |
| "left_hand_joint0_x", |
| "left_hand_joint0_y", |
| "left_hand_joint0_z", |
| "left_hand_joint0_qw", |
| "left_hand_joint0_qx", |
| "left_hand_joint0_qy", |
| "left_hand_joint0_qz", |
| "left_hand_joint1_x", |
| "left_hand_joint1_y", |
| "left_hand_joint1_z", |
| "left_hand_joint2_x", |
| "left_hand_joint2_y", |
| "left_hand_joint2_z", |
| "left_hand_joint3_x", |
| "left_hand_joint3_y", |
| "left_hand_joint3_z", |
| "left_hand_joint4_x", |
| "left_hand_joint4_y", |
| "left_hand_joint4_z", |
| "left_hand_joint5_x", |
| "left_hand_joint5_y", |
| "left_hand_joint5_z", |
| "left_hand_joint6_x", |
| "left_hand_joint6_y", |
| "left_hand_joint6_z", |
| "left_hand_joint7_x", |
| "left_hand_joint7_y", |
| "left_hand_joint7_z", |
| "left_hand_joint8_x", |
| "left_hand_joint8_y", |
| "left_hand_joint8_z", |
| "left_hand_joint9_x", |
| "left_hand_joint9_y", |
| "left_hand_joint9_z", |
| "left_hand_joint10_x", |
| "left_hand_joint10_y", |
| "left_hand_joint10_z", |
| "left_hand_joint11_x", |
| "left_hand_joint11_y", |
| "left_hand_joint11_z", |
| "left_hand_joint12_x", |
| "left_hand_joint12_y", |
| "left_hand_joint12_z", |
| "left_hand_joint13_x", |
| "left_hand_joint13_y", |
| "left_hand_joint13_z", |
| "left_hand_joint14_x", |
| "left_hand_joint14_y", |
| "left_hand_joint14_z", |
| "left_hand_joint15_x", |
| "left_hand_joint15_y", |
| "left_hand_joint15_z", |
| "left_hand_joint16_x", |
| "left_hand_joint16_y", |
| "left_hand_joint16_z", |
| "left_hand_joint17_x", |
| "left_hand_joint17_y", |
| "left_hand_joint17_z", |
| "left_hand_joint18_x", |
| "left_hand_joint18_y", |
| "left_hand_joint18_z", |
| "left_hand_joint19_x", |
| "left_hand_joint19_y", |
| "left_hand_joint19_z", |
| "left_hand_joint20_x", |
| "left_hand_joint20_y", |
| "left_hand_joint20_z", |
| "right_hand_joint0_x", |
| "right_hand_joint0_y", |
| "right_hand_joint0_z", |
| "right_hand_joint0_qw", |
| "right_hand_joint0_qx", |
| "right_hand_joint0_qy", |
| "right_hand_joint0_qz", |
| "right_hand_joint1_x", |
| "right_hand_joint1_y", |
| "right_hand_joint1_z", |
| "right_hand_joint2_x", |
| "right_hand_joint2_y", |
| "right_hand_joint2_z", |
| "right_hand_joint3_x", |
| "right_hand_joint3_y", |
| "right_hand_joint3_z", |
| "right_hand_joint4_x", |
| "right_hand_joint4_y", |
| "right_hand_joint4_z", |
| "right_hand_joint5_x", |
| "right_hand_joint5_y", |
| "right_hand_joint5_z", |
| "right_hand_joint6_x", |
| "right_hand_joint6_y", |
| "right_hand_joint6_z", |
| "right_hand_joint7_x", |
| "right_hand_joint7_y", |
| "right_hand_joint7_z", |
| "right_hand_joint8_x", |
| "right_hand_joint8_y", |
| "right_hand_joint8_z", |
| "right_hand_joint9_x", |
| "right_hand_joint9_y", |
| "right_hand_joint9_z", |
| "right_hand_joint10_x", |
| "right_hand_joint10_y", |
| "right_hand_joint10_z", |
| "right_hand_joint11_x", |
| "right_hand_joint11_y", |
| "right_hand_joint11_z", |
| "right_hand_joint12_x", |
| "right_hand_joint12_y", |
| "right_hand_joint12_z", |
| "right_hand_joint13_x", |
| "right_hand_joint13_y", |
| "right_hand_joint13_z", |
| "right_hand_joint14_x", |
| "right_hand_joint14_y", |
| "right_hand_joint14_z", |
| "right_hand_joint15_x", |
| "right_hand_joint15_y", |
| "right_hand_joint15_z", |
| "right_hand_joint16_x", |
| "right_hand_joint16_y", |
| "right_hand_joint16_z", |
| "right_hand_joint17_x", |
| "right_hand_joint17_y", |
| "right_hand_joint17_z", |
| "right_hand_joint18_x", |
| "right_hand_joint18_y", |
| "right_hand_joint18_z", |
| "right_hand_joint19_x", |
| "right_hand_joint19_y", |
| "right_hand_joint19_z", |
| "right_hand_joint20_x", |
| "right_hand_joint20_y", |
| "right_hand_joint20_z", |
| "body_joint0_x", |
| "body_joint0_y", |
| "body_joint0_z", |
| "body_joint0_qw", |
| "body_joint0_qx", |
| "body_joint0_qy", |
| "body_joint0_qz", |
| "body_joint1_x", |
| "body_joint1_y", |
| "body_joint1_z", |
| "body_joint1_qw", |
| "body_joint1_qx", |
| "body_joint1_qy", |
| "body_joint1_qz", |
| "body_joint2_x", |
| "body_joint2_y", |
| "body_joint2_z", |
| "body_joint2_qw", |
| "body_joint2_qx", |
| "body_joint2_qy", |
| "body_joint2_qz", |
| "body_joint3_x", |
| "body_joint3_y", |
| "body_joint3_z", |
| "body_joint3_qw", |
| "body_joint3_qx", |
| "body_joint3_qy", |
| "body_joint3_qz", |
| "body_joint4_x", |
| "body_joint4_y", |
| "body_joint4_z", |
| "body_joint4_qw", |
| "body_joint4_qx", |
| "body_joint4_qy", |
| "body_joint4_qz", |
| "body_joint5_x", |
| "body_joint5_y", |
| "body_joint5_z", |
| "body_joint5_qw", |
| "body_joint5_qx", |
| "body_joint5_qy", |
| "body_joint5_qz", |
| "body_joint6_x", |
| "body_joint6_y", |
| "body_joint6_z", |
| "body_joint6_qw", |
| "body_joint6_qx", |
| "body_joint6_qy", |
| "body_joint6_qz", |
| "body_joint7_x", |
| "body_joint7_y", |
| "body_joint7_z", |
| "body_joint7_qw", |
| "body_joint7_qx", |
| "body_joint7_qy", |
| "body_joint7_qz", |
| "body_joint8_x", |
| "body_joint8_y", |
| "body_joint8_z", |
| "body_joint8_qw", |
| "body_joint8_qx", |
| "body_joint8_qy", |
| "body_joint8_qz", |
| "body_joint9_x", |
| "body_joint9_y", |
| "body_joint9_z", |
| "body_joint9_qw", |
| "body_joint9_qx", |
| "body_joint9_qy", |
| "body_joint9_qz", |
| "body_joint10_x", |
| "body_joint10_y", |
| "body_joint10_z", |
| "body_joint10_qw", |
| "body_joint10_qx", |
| "body_joint10_qy", |
| "body_joint10_qz", |
| "body_joint11_x", |
| "body_joint11_y", |
| "body_joint11_z", |
| "body_joint11_qw", |
| "body_joint11_qx", |
| "body_joint11_qy", |
| "body_joint11_qz", |
| "body_joint12_x", |
| "body_joint12_y", |
| "body_joint12_z", |
| "body_joint12_qw", |
| "body_joint12_qx", |
| "body_joint12_qy", |
| "body_joint12_qz", |
| "body_joint13_x", |
| "body_joint13_y", |
| "body_joint13_z", |
| "body_joint13_qw", |
| "body_joint13_qx", |
| "body_joint13_qy", |
| "body_joint13_qz", |
| "body_joint14_x", |
| "body_joint14_y", |
| "body_joint14_z", |
| "body_joint14_qw", |
| "body_joint14_qx", |
| "body_joint14_qy", |
| "body_joint14_qz", |
| "body_joint15_x", |
| "body_joint15_y", |
| "body_joint15_z", |
| "body_joint15_qw", |
| "body_joint15_qx", |
| "body_joint15_qy", |
| "body_joint15_qz", |
| "body_joint16_x", |
| "body_joint16_y", |
| "body_joint16_z", |
| "body_joint16_qw", |
| "body_joint16_qx", |
| "body_joint16_qy", |
| "body_joint16_qz", |
| "body_joint17_x", |
| "body_joint17_y", |
| "body_joint17_z", |
| "body_joint17_qw", |
| "body_joint17_qx", |
| "body_joint17_qy", |
| "body_joint17_qz", |
| "body_joint18_x", |
| "body_joint18_y", |
| "body_joint18_z", |
| "body_joint18_qw", |
| "body_joint18_qx", |
| "body_joint18_qy", |
| "body_joint18_qz", |
| "body_joint19_x", |
| "body_joint19_y", |
| "body_joint19_z", |
| "body_joint19_qw", |
| "body_joint19_qx", |
| "body_joint19_qy", |
| "body_joint19_qz", |
| "body_joint20_x", |
| "body_joint20_y", |
| "body_joint20_z", |
| "body_joint20_qw", |
| "body_joint20_qx", |
| "body_joint20_qy", |
| "body_joint20_qz", |
| "body_joint21_x", |
| "body_joint21_y", |
| "body_joint21_z", |
| "body_joint21_qw", |
| "body_joint21_qx", |
| "body_joint21_qy", |
| "body_joint21_qz" |
| ] |
| }, |
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