| { |
| "codebase_version": "v2.1", |
| "robot_type": "x2w", |
| "total_episodes": 9, |
| "total_frames": 22676, |
| "total_tasks": 3, |
| "total_videos": 27, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:9" |
| }, |
| "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": [ |
| 89 |
| ], |
| "field_descriptions": { |
| "/x2w_sensor/joint_state": { |
| "description": "长度为66，共22个关节信息，每个关节有position,velocity,effort，前22个数分别表示这22个关节的position，中间22个为velocity，最后22个为effort。注意排列不是一个数的position,velocity,effort，而是22个position，22个velocity，22个effort。", |
| "dimensions": 66, |
| "indices": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 49, |
| 50, |
| 51, |
| 52, |
| 53, |
| 54, |
| 55, |
| 56, |
| 57, |
| 58, |
| 59, |
| 60, |
| 61, |
| 62, |
| 63, |
| 64, |
| 65 |
| ] |
| }, |
| "/x2w_sensor/gripper_pose": { |
| "description": "长度为14,包含左右两个末端执行器的pose，每个7个数字表示，前三个数字表示position，xyz，后四个表示四元数(quaternion)。", |
| "dimensions": 14, |
| "indices": [ |
| 66, |
| 67, |
| 68, |
| 69, |
| 70, |
| 71, |
| 72, |
| 73, |
| 74, |
| 75, |
| 76, |
| 77, |
| 78, |
| 79 |
| ] |
| }, |
| "/x2w_sensor/wheel_joint_state": { |
| "description": "长度为9，包含3个轮子关节(wheel_front_left, wheel_front_right, wheel_rear)，前3个数(0-2)分别是三个wheel的position，中间3个(3-5)分别是三个wheel的velocity，最后3个(6-8)是effort。注意排列不是一个数的position,velocity,effort，而是3个position，3个velocity，3个effort。", |
| "dimensions": 9, |
| "indices": [ |
| 80, |
| 81, |
| 82, |
| 83, |
| 84, |
| 85, |
| 86, |
| 87, |
| 88 |
| ] |
| } |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 89 |
| ], |
| "field_descriptions": { |
| "/x2w_control/joint_command": { |
| "description": "长度为66，共22个关节的控制命令，每个关节有position,velocity,effort，前22个数分别表示这22个关节的position，中间22个为velocity，最后22个为effort。注意排列不是一个数的position,velocity,effort，而是22个position，22个velocity，22个effort。", |
| "dimensions": 66, |
| "indices": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 49, |
| 50, |
| 51, |
| 52, |
| 53, |
| 54, |
| 55, |
| 56, |
| 57, |
| 58, |
| 59, |
| 60, |
| 61, |
| 62, |
| 63, |
| 64, |
| 65 |
| ] |
| }, |
| "/x2w_control/gripper_target": { |
| "description": "长度为14,先左后右，包含左右两个末端执行器的目标pose，每个7个数字表示，前三个数字表示position(xyz)，后四个表示四元数(quaternion)。", |
| "dimensions": 14, |
| "indices": [ |
| 66, |
| 67, |
| 68, |
| 69, |
| 70, |
| 71, |
| 72, |
| 73, |
| 74, |
| 75, |
| 76, |
| 77, |
| 78, |
| 79 |
| ] |
| }, |
| "/x2w_control/wheel_joint_command": { |
| "description": "长度为9，包含3个轮子关节(wheel_front_left, wheel_front_right, wheel_rear)的控制命令，前3个数(0-2)分别是三个wheel的position，中间3个(3-5)分别是三个wheel的velocity，最后3个(6-8)是effort。注意排列不是一个数的position,velocity,effort，而是3个position，3个velocity，3个effort。", |
| "dimensions": 9, |
| "indices": [ |
| 80, |
| 81, |
| 82, |
| 83, |
| 84, |
| 85, |
| 86, |
| 87, |
| 88 |
| ] |
| } |
| } |
| }, |
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| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
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| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
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| 1280, |
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| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.x2w_camera_right_wrist_zedxonegs_rgb_raw_image_compressed": { |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
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| "names": [ |
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| "width", |
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| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
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