huzheyuan's picture
schema v2: observation.state = measured proprio; commanded stream -> observation.state_commanded (loong_schema: 2)
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{
"codebase_version": "v2.1",
"robot_type": "dual_xarm",
"total_episodes": 50,
"total_frames": 277977,
"total_tasks": 1,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:50"
},
"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_commanded": {
"dtype": "float32",
"shape": [
20
],
"names": [
[
"left_pos_x",
"left_pos_y",
"left_pos_z",
"left_r00",
"left_r10",
"left_r20",
"left_r01",
"left_r11",
"left_r21",
"left_gripper",
"right_pos_x",
"right_pos_y",
"right_pos_z",
"right_r00",
"right_r10",
"right_r20",
"right_r01",
"right_r11",
"right_r21",
"right_gripper"
]
]
},
"action": {
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"shape": [
20
],
"names": [
[
"left_pos_x",
"left_pos_y",
"left_pos_z",
"left_r00",
"left_r10",
"left_r20",
"left_r01",
"left_r11",
"left_r21",
"left_gripper",
"right_pos_x",
"right_pos_y",
"right_pos_z",
"right_r00",
"right_r10",
"right_r20",
"right_r01",
"right_r11",
"right_r21",
"right_gripper"
]
]
},
"is_intervention": {
"dtype": "bool",
"shape": [
1
],
"names": [
"is_intervention"
]
},
"observation.images.base": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 60,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 60,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 60,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
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"shape": [
1
],
"names": null
},
"observation.state": {
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"shape": [
20
],
"names": [
[
"left_pos_x",
"left_pos_y",
"left_pos_z",
"left_r00",
"left_r10",
"left_r20",
"left_r01",
"left_r11",
"left_r21",
"left_gripper",
"right_pos_x",
"right_pos_y",
"right_pos_z",
"right_r00",
"right_r10",
"right_r20",
"right_r01",
"right_r11",
"right_r21",
"right_gripper"
]
]
},
"joint_state": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"left_j1",
"left_j2",
"left_j3",
"left_j4",
"left_j5",
"left_j6",
"left_j7",
"right_j1",
"right_j2",
"right_j3",
"right_j4",
"right_j5",
"right_j6",
"right_j7"
]
]
},
"joint_action": {
"dtype": "float32",
"shape": [
16
],
"names": [
[
"left_j1",
"left_j2",
"left_j3",
"left_j4",
"left_j5",
"left_j6",
"left_j7",
"left_gripper",
"right_j1",
"right_j2",
"right_j3",
"right_j4",
"right_j5",
"right_j6",
"right_j7",
"right_gripper"
]
]
}
},
"loong_schema": 2
}