{ "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 ] } } }, "observation.images.x2w_camera_head_realsense_compressed": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "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_left_wrist_zedxonegs_rgb_raw_image_compressed": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "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 ], "names": [ "height", "width", "channels" ], "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 } }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": 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