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push_block

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push_block
File size: 4,963 Bytes
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{
    "codebase_version": "v2.0",
    "robot_type": "g1_upper_body",
    "total_episodes": 200,
    "total_frames": 39842,
    "total_tasks": 2,
    "total_videos": 200,
    "total_chunks": 0,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:100"
    },
    "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.images.ego_view": {
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            "shape": [
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            ],
            "names": [
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                "width",
                "channel"
            ],
            "video_info": {
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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
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            "names": [
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                "left_shoulder_roll_joint",
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                "left_elbow_joint",
                "left_wrist_roll_joint",
                "left_wrist_pitch_joint",
                "left_wrist_yaw_joint",
                "right_shoulder_pitch_joint",
                "right_shoulder_roll_joint",
                "right_shoulder_yaw_joint",
                "right_elbow_joint",
                "right_wrist_roll_joint",
                "right_wrist_pitch_joint",
                "right_wrist_yaw_joint",
                "left_hand_index_0_joint",
                "left_hand_middle_0_joint",
                "left_hand_thumb_0_joint",
                "left_hand_index_1_joint",
                "left_hand_middle_1_joint",
                "left_hand_thumb_1_joint",
                "left_hand_thumb_2_joint",
                "right_hand_index_0_joint",
                "right_hand_middle_0_joint",
                "right_hand_thumb_0_joint",
                "right_hand_index_1_joint",
                "right_hand_middle_1_joint",
                "right_hand_thumb_1_joint",
                "right_hand_thumb_2_joint",
                "waist_yaw_joint",
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            ]
        },
        "action": {
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            "names": [
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                "left_shoulder_roll_joint",
                "left_shoulder_yaw_joint",
                "left_elbow_joint",
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                "left_wrist_pitch_joint",
                "left_wrist_yaw_joint",
                "right_shoulder_pitch_joint",
                "right_shoulder_roll_joint",
                "right_shoulder_yaw_joint",
                "right_elbow_joint",
                "right_wrist_roll_joint",
                "right_wrist_pitch_joint",
                "right_wrist_yaw_joint",
                "left_hand_index_0_joint",
                "left_hand_middle_0_joint",
                "left_hand_thumb_0_joint",
                "left_hand_index_1_joint",
                "left_hand_middle_1_joint",
                "left_hand_thumb_1_joint",
                "left_hand_thumb_2_joint",
                "right_hand_index_0_joint",
                "right_hand_middle_0_joint",
                "right_hand_thumb_0_joint",
                "right_hand_index_1_joint",
                "right_hand_middle_1_joint",
                "right_hand_thumb_1_joint",
                "right_hand_thumb_2_joint",
                "waist_yaw_joint",
                "waist_roll_joint",
                "waist_pitch_joint"
            ]
        },
        "timestamp": {
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        "annotation.human.task_description": {
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        "annotation.human.valid": {
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        },
        "episode_index": {
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            ]
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        "next.reward": {
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            "shape": [
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        "next.done": {
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            "shape": [
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}