| { |
| "codebase_version": "v2.1", |
| "robot_type": "r1lite", |
| "total_episodes": 5, |
| "total_frames": 4902, |
| "total_tasks": 1, |
| "total_videos": 20, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 31, |
| "splits": { |
| "train": "0:5" |
| }, |
| "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.head_rgb": { |
| "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": 31, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.head_right_rgb": { |
| "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": 31, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.left_wrist_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 31, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_wrist_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 31, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state.left_arm": { |
| "dtype": "float64", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "/hdas/feedback_arm_left.position[0]", |
| "/hdas/feedback_arm_left.position[1]", |
| "/hdas/feedback_arm_left.position[2]", |
| "/hdas/feedback_arm_left.position[3]", |
| "/hdas/feedback_arm_left.position[4]", |
| "/hdas/feedback_arm_left.position[5]" |
| ] |
| }, |
| "observation.state.left_arm.velocities": { |
| "dtype": "float64", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "/hdas/feedback_arm_left.velocity[0]", |
| "/hdas/feedback_arm_left.velocity[1]", |
| "/hdas/feedback_arm_left.velocity[2]", |
| "/hdas/feedback_arm_left.velocity[3]", |
| "/hdas/feedback_arm_left.velocity[4]", |
| "/hdas/feedback_arm_left.velocity[5]" |
| ] |
| }, |
| "observation.state.right_arm": { |
| "dtype": "float64", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "/hdas/feedback_arm_right.position[0]", |
| "/hdas/feedback_arm_right.position[1]", |
| "/hdas/feedback_arm_right.position[2]", |
| "/hdas/feedback_arm_right.position[3]", |
| "/hdas/feedback_arm_right.position[4]", |
| "/hdas/feedback_arm_right.position[5]" |
| ] |
| }, |
| "observation.state.right_arm.velocities": { |
| "dtype": "float64", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "/hdas/feedback_arm_right.velocity[0]", |
| "/hdas/feedback_arm_right.velocity[1]", |
| "/hdas/feedback_arm_right.velocity[2]", |
| "/hdas/feedback_arm_right.velocity[3]", |
| "/hdas/feedback_arm_right.velocity[4]", |
| "/hdas/feedback_arm_right.velocity[5]" |
| ] |
| }, |
| "observation.state.chassis.imu": { |
| "dtype": "float64", |
| "shape": [ |
| 10 |
| ], |
| "names": [ |
| "/hdas/imu_chassis.orientation.x", |
| "/hdas/imu_chassis.orientation.y", |
| "/hdas/imu_chassis.orientation.z", |
| "/hdas/imu_chassis.orientation.w", |
| "/hdas/imu_chassis.angular_velocity.x", |
| "/hdas/imu_chassis.angular_velocity.y", |
| "/hdas/imu_chassis.angular_velocity.z", |
| "/hdas/imu_chassis.linear_acceleration.x", |
| "/hdas/imu_chassis.linear_acceleration.y", |
| "/hdas/imu_chassis.linear_acceleration.z" |
| ] |
| }, |
| "observation.state.chassis": { |
| "dtype": "float64", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "/hdas/feedback_chassis.position[0]", |
| "/hdas/feedback_chassis.position[1]", |
| "/hdas/feedback_chassis.position[2]" |
| ] |
| }, |
| "observation.state.chassis.velocities": { |
| "dtype": "float64", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "/hdas/feedback_chassis.velocity[0]", |
| "/hdas/feedback_chassis.velocity[1]", |
| "/hdas/feedback_chassis.velocity[2]" |
| ] |
| }, |
| "observation.state.torso": { |
| "dtype": "float64", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "/hdas/feedback_torso.position[0]", |
| "/hdas/feedback_torso.position[1]", |
| "/hdas/feedback_torso.position[2]", |
| "/hdas/feedback_torso.position[3]" |
| ] |
| }, |
| "observation.state.torso.velocities": { |
| "dtype": "float64", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "/hdas/feedback_torso.velocity[0]", |
| "/hdas/feedback_torso.velocity[1]", |
| "/hdas/feedback_torso.velocity[2]", |
| "/hdas/feedback_torso.velocity[3]" |
| ] |
| }, |
| "observation.state.left_gripper": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "/hdas/feedback_gripper_left.position[0]" |
| ] |
| }, |
| "observation.state.right_gripper": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "/hdas/feedback_gripper_right.position[0]" |
| ] |
| }, |
| "observation.state.left_ee_pose": { |
| "dtype": "float64", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "/motion_control/pose_ee_arm_left.pose.position.x", |
| "/motion_control/pose_ee_arm_left.pose.position.y", |
| "/motion_control/pose_ee_arm_left.pose.position.z", |
| "/motion_control/pose_ee_arm_left.pose.orientation.x", |
| "/motion_control/pose_ee_arm_left.pose.orientation.y", |
| "/motion_control/pose_ee_arm_left.pose.orientation.z", |
| "/motion_control/pose_ee_arm_left.pose.orientation.w" |
| ] |
| }, |
| "observation.state.right_ee_pose": { |
| "dtype": "float64", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "/motion_control/pose_ee_arm_right.pose.position.x", |
| "/motion_control/pose_ee_arm_right.pose.position.y", |
| "/motion_control/pose_ee_arm_right.pose.position.z", |
| "/motion_control/pose_ee_arm_right.pose.orientation.x", |
| "/motion_control/pose_ee_arm_right.pose.orientation.y", |
| "/motion_control/pose_ee_arm_right.pose.orientation.z", |
| "/motion_control/pose_ee_arm_right.pose.orientation.w" |
| ] |
| }, |
| "action.left_gripper": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "/motion_target/target_position_gripper_left.position[0]" |
| ] |
| }, |
| "action.right_gripper": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "/motion_target/target_position_gripper_right.position[0]" |
| ] |
| }, |
| "action.chassis.velocities": { |
| "dtype": "float64", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "/motion_target/target_speed_chassis.twist.linear.x", |
| "/motion_target/target_speed_chassis.twist.linear.y", |
| "/motion_target/target_speed_chassis.twist.linear.z", |
| "/motion_target/target_speed_chassis.twist.angular.x", |
| "/motion_target/target_speed_chassis.twist.angular.y", |
| "/motion_target/target_speed_chassis.twist.angular.z" |
| ] |
| }, |
| "action.torso.velocities": { |
| "dtype": "float64", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "/motion_target/target_speed_torso.twist.linear.x", |
| "/motion_target/target_speed_torso.twist.linear.y", |
| "/motion_target/target_speed_torso.twist.linear.z", |
| "/motion_target/target_speed_torso.twist.angular.x", |
| "/motion_target/target_speed_torso.twist.angular.y", |
| "/motion_target/target_speed_torso.twist.angular.z" |
| ] |
| }, |
| "action.left_arm": { |
| "dtype": "float64", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "/motion_target/target_joint_state_arm_left.position[0]", |
| "/motion_target/target_joint_state_arm_left.position[1]", |
| "/motion_target/target_joint_state_arm_left.position[2]", |
| "/motion_target/target_joint_state_arm_left.position[3]", |
| "/motion_target/target_joint_state_arm_left.position[4]", |
| "/motion_target/target_joint_state_arm_left.position[5]" |
| ] |
| }, |
| "action.right_arm": { |
| "dtype": "float64", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "/motion_target/target_joint_state_arm_right.position[0]", |
| "/motion_target/target_joint_state_arm_right.position[1]", |
| "/motion_target/target_joint_state_arm_right.position[2]", |
| "/motion_target/target_joint_state_arm_right.position[3]", |
| "/motion_target/target_joint_state_arm_right.position[4]", |
| "/motion_target/target_joint_state_arm_right.position[5]" |
| ] |
| }, |
| "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 |
| } |
| }, |
| "depth": { |
| "left_wrist_depth": { |
| "path": "depth/left_wrist_depth/episode_{episode_index:06d}.bin", |
| "dtype": "uint16", |
| "shape": [ |
| 360, |
| 640 |
| ], |
| "unit": "mm", |
| "storage": "episode-based", |
| "description": "Raw 16-bit depth preserved per episode" |
| }, |
| "right_wrist_depth": { |
| "path": "depth/right_wrist_depth/episode_{episode_index:06d}.bin", |
| "dtype": "uint16", |
| "shape": [ |
| 360, |
| 640 |
| ], |
| "unit": "mm", |
| "storage": "episode-based", |
| "description": "Raw 16-bit depth preserved per episode" |
| } |
| } |
| } |
