| { | |
| "codebase_version": "v2.1", | |
| "robot_type": null, | |
| "total_episodes": 2, | |
| "total_frames": 1910, | |
| "total_tasks": 1, | |
| "total_videos": 0, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:1" | |
| }, | |
| "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.image.head": { | |
| "shape": [ | |
| 540, | |
| 960, | |
| 3 | |
| ], | |
| "dtype": "image", | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.image.arducam": { | |
| "shape": [ | |
| 540, | |
| 960, | |
| 3 | |
| ], | |
| "dtype": "image", | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.image.wrist_left": { | |
| "shape": [ | |
| 540, | |
| 960, | |
| 3 | |
| ], | |
| "dtype": "image", | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.image.wrist_right": { | |
| "shape": [ | |
| 540, | |
| 960, | |
| 3 | |
| ], | |
| "dtype": "image", | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.state": { | |
| "shape": [ | |
| 63 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "left_shoulder_flexion_position", | |
| "left_shoulder_flexion_velocity", | |
| "left_shoulder_flexion_effort", | |
| "left_shoulder_abduction_position", | |
| "left_shoulder_abduction_velocity", | |
| "left_shoulder_abduction_effort", | |
| "left_shoulder_rotation_position", | |
| "left_shoulder_rotation_velocity", | |
| "left_shoulder_abduction_effortleft_elbow_flexion_position", | |
| "left_elbow_flexion_velocity", | |
| "left_elbow_flexion_effort", | |
| "left_wrist_deviation_position", | |
| "left_wrist_deviation_velocity", | |
| "left_wrist_deviation_effort", | |
| "left_wrist_flexion_position", | |
| "left_wrist_flexion_velocity", | |
| "left_wrist_flexion_effort", | |
| "left_wrist_pronation_position", | |
| "left_wrist_pronation_velocity", | |
| "left_wrist_pronation_effort", | |
| "left_gripper_position", | |
| "left_gripper_velocity", | |
| "left_gripper_effort", | |
| "right_shoulder_flexion_position", | |
| "right_shoulder_flexion_velocity", | |
| "right_shoulder_flexion_effort", | |
| "right_shoulder_abduction_position", | |
| "right_shoulder_abduction_velocity", | |
| "right_shoulder_abduction_effort", | |
| "right_shoulder_rotation_position", | |
| "right_shoulder_rotation_velocity", | |
| "right_shoulder_abduction_effortright_elbow_flexion_position", | |
| "right_elbow_flexion_velocity", | |
| "right_elbow_flexion_effort", | |
| "right_wrist_deviation_position", | |
| "right_wrist_deviation_velocity", | |
| "right_wrist_deviation_effort", | |
| "right_wrist_flexion_position", | |
| "right_wrist_flexion_velocity", | |
| "right_wrist_flexion_effort", | |
| "right_wrist_pronation_position", | |
| "right_wrist_pronation_velocity", | |
| "right_wrist_pronation_effort", | |
| "right_gripper_position", | |
| "right_gripper_velocity", | |
| "right_gripper_effort", | |
| "torso_bottom_position", | |
| "torso_bottom_velocity", | |
| "torso_bottom_effort", | |
| "torso_mid_position", | |
| "torso_mid_velocity", | |
| "torso_mid_effort", | |
| "torso_top_position", | |
| "torso_top_velocity", | |
| "torso_top_effort", | |
| "torso_yaw_position", | |
| "torso_yaw_velocity", | |
| "torso_yaw_effort", | |
| "chassis_linear_x", | |
| "chassis_linear_y", | |
| "chassis_rotation_z" | |
| ] | |
| }, | |
| "action": { | |
| "shape": [ | |
| 66 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "left_shoulder_flexion_position", | |
| "left_shoulder_flexion_velocity", | |
| "left_shoulder_flexion_effort", | |
| "left_shoulder_abduction_position", | |
| "left_shoulder_abduction_velocity", | |
| "left_shoulder_abduction_effort", | |
| "left_shoulder_rotation_position", | |
| "left_shoulder_rotation_velocity", | |
| "left_shoulder_abduction_effortleft_elbow_flexion_position", | |
| "left_elbow_flexion_velocity", | |
| "left_elbow_flexion_effort", | |
| "left_wrist_deviation_position", | |
| "left_wrist_deviation_velocity", | |
| "left_wrist_deviation_effort", | |
| "left_wrist_flexion_position", | |
| "left_wrist_flexion_velocity", | |
| "left_wrist_flexion_effort", | |
| "left_wrist_pronation_position", | |
| "left_wrist_pronation_velocity", | |
| "left_wrist_pronation_effort", | |
| "left_gripper_position", | |
| "left_gripper_velocity", | |
| "left_gripper_effort", | |
| "right_shoulder_flexion_position", | |
| "right_shoulder_flexion_velocity", | |
| "right_shoulder_flexion_effort", | |
| "right_shoulder_abduction_position", | |
| "right_shoulder_abduction_velocity", | |
| "right_shoulder_abduction_effort", | |
| "right_shoulder_rotation_position", | |
| "right_shoulder_rotation_velocity", | |
| "right_shoulder_abduction_effortright_elbow_flexion_position", | |
| "right_elbow_flexion_velocity", | |
| "right_elbow_flexion_effort", | |
| "right_wrist_deviation_position", | |
| "right_wrist_deviation_velocity", | |
| "right_wrist_deviation_effort", | |
| "right_wrist_flexion_position", | |
| "right_wrist_flexion_velocity", | |
| "right_wrist_flexion_effort", | |
| "right_wrist_pronation_position", | |
| "right_wrist_pronation_velocity", | |
| "right_wrist_pronation_effort", | |
| "right_gripper_position", | |
| "right_gripper_velocity", | |
| "right_gripper_effort", | |
| "torso_bottom_position", | |
| "torso_bottom_velocity", | |
| "torso_bottom_effort", | |
| "torso_mid_position", | |
| "torso_mid_velocity", | |
| "torso_mid_effort", | |
| "torso_top_position", | |
| "torso_top_velocity", | |
| "torso_top_effort", | |
| "torso_yaw_position", | |
| "torso_yaw_velocity", | |
| "torso_yaw_effort", | |
| "chassis_linear_x", | |
| "chassis_linear_y", | |
| "chassis_linear_z", | |
| "chassis_angular_x", | |
| "chassis_angular_y", | |
| "chassis_angular_z" | |
| ] | |
| }, | |
| "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": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| } | |
| } |