| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "G1ArmsOnly", | |
| "total_episodes": 118, | |
| "total_frames": 35821, | |
| "total_tasks": 1, | |
| "total_videos": 0, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30.0, | |
| "splits": { | |
| "train": "0:35821" | |
| }, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.ego_view/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "observation.images.ego_view": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
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| ], | |
| "names": [ | |
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| "left_arm_1", | |
| "left_arm_2", | |
| "left_arm_3", | |
| "left_arm_4", | |
| "left_arm_5", | |
| "left_arm_6", | |
| "left_hand_0", | |
| "left_hand_1", | |
| "left_hand_2", | |
| "left_hand_3", | |
| "left_hand_4", | |
| "left_hand_5", | |
| "left_leg_0", | |
| "left_leg_1", | |
| "left_leg_2", | |
| "left_leg_3", | |
| "left_leg_4", | |
| "left_leg_5", | |
| "neck_0", | |
| "neck_1", | |
| "neck_2", | |
| "right_arm_0", | |
| "right_arm_1", | |
| "right_arm_2", | |
| "right_arm_3", | |
| "right_arm_4", | |
| "right_arm_5", | |
| "right_arm_6", | |
| "right_hand_0", | |
| "right_hand_1", | |
| "right_hand_2", | |
| "right_hand_3", | |
| "right_hand_4", | |
| "right_hand_5", | |
| "right_leg_0", | |
| "right_leg_1", | |
| "right_leg_2", | |
| "right_leg_3", | |
| "right_leg_4", | |
| "right_leg_5", | |
| "waist_0", | |
| "waist_1", | |
| "waist_2" | |
| ] | |
| }, | |
| "action": { | |
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| 44 | |
| ], | |
| "names": [ | |
| "left_arm_0", | |
| "left_arm_1", | |
| "left_arm_2", | |
| "left_arm_3", | |
| "left_arm_4", | |
| "left_arm_5", | |
| "left_arm_6", | |
| "left_hand_0", | |
| "left_hand_1", | |
| "left_hand_2", | |
| "left_hand_3", | |
| "left_hand_4", | |
| "left_hand_5", | |
| "left_leg_0", | |
| "left_leg_1", | |
| "left_leg_2", | |
| "left_leg_3", | |
| "left_leg_4", | |
| "left_leg_5", | |
| "neck_0", | |
| "neck_1", | |
| "neck_2", | |
| "right_arm_0", | |
| "right_arm_1", | |
| "right_arm_2", | |
| "right_arm_3", | |
| "right_arm_4", | |
| "right_arm_5", | |
| "right_arm_6", | |
| "right_hand_0", | |
| "right_hand_1", | |
| "right_hand_2", | |
| "right_hand_3", | |
| "right_hand_4", | |
| "right_hand_5", | |
| "right_leg_0", | |
| "right_leg_1", | |
| "right_leg_2", | |
| "right_leg_3", | |
| "right_leg_4", | |
| "right_leg_5", | |
| "waist_0", | |
| "waist_1", | |
| "waist_2" | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
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| 1 | |
| ] | |
| }, | |
| "index": { | |
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| 1 | |
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| }, | |
| "task_index": { | |
| "dtype": "int64", | |
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| 1 | |
| ] | |
| }, | |
| "next.reward": { | |
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| 1 | |
| ] | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
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| 1 | |
| ] | |
| }, | |
| "annotation.human.action.task_description": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "annotation.human.validity": { | |
| "dtype": "int64", | |
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| 1 | |
| ] | |
| } | |
| } | |
| } |