| { |
| "codebase_version": "v3.0", |
| "robot_type": "zerith_h1_pro", |
| "total_episodes": 3, |
| "total_frames": 1347, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:3" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "wheel_left.pos", |
| "wheel_right.pos", |
| "lift.pos", |
| "waist_pitch.pos", |
| "waist_yaw.pos", |
| "head_yaw.pos", |
| "head_pitch.pos", |
| "left_shoulder_pitch.pos", |
| "left_shoulder_roll.pos", |
| "left_shoulder_yaw.pos", |
| "left_elbow.pos", |
| "left_wrist_roll.pos", |
| "left_wrist_yaw.pos", |
| "left_wrist_pitch.pos", |
| "left_gripper.pos", |
| "right_shoulder_pitch.pos", |
| "right_shoulder_roll.pos", |
| "right_shoulder_yaw.pos", |
| "right_elbow.pos", |
| "right_wrist_roll.pos", |
| "right_wrist_yaw.pos", |
| "right_wrist_pitch.pos", |
| "right_gripper.pos" |
| ], |
| "shape": [ |
| 23 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "wheel_left.pos", |
| "wheel_left.vel", |
| "wheel_left.torque", |
| "wheel_right.pos", |
| "wheel_right.vel", |
| "wheel_right.torque", |
| "lift.pos", |
| "lift.vel", |
| "lift.torque", |
| "waist_pitch.pos", |
| "waist_pitch.vel", |
| "waist_pitch.torque", |
| "waist_yaw.pos", |
| "waist_yaw.vel", |
| "waist_yaw.torque", |
| "head_yaw.pos", |
| "head_yaw.vel", |
| "head_yaw.torque", |
| "head_pitch.pos", |
| "head_pitch.vel", |
| "head_pitch.torque", |
| "left_shoulder_pitch.pos", |
| "left_shoulder_pitch.vel", |
| "left_shoulder_pitch.torque", |
| "left_shoulder_roll.pos", |
| "left_shoulder_roll.vel", |
| "left_shoulder_roll.torque", |
| "left_shoulder_yaw.pos", |
| "left_shoulder_yaw.vel", |
| "left_shoulder_yaw.torque", |
| "left_elbow.pos", |
| "left_elbow.vel", |
| "left_elbow.torque", |
| "left_wrist_roll.pos", |
| "left_wrist_roll.vel", |
| "left_wrist_roll.torque", |
| "left_wrist_yaw.pos", |
| "left_wrist_yaw.vel", |
| "left_wrist_yaw.torque", |
| "left_wrist_pitch.pos", |
| "left_wrist_pitch.vel", |
| "left_wrist_pitch.torque", |
| "left_gripper.pos", |
| "left_gripper.vel", |
| "left_gripper.torque", |
| "right_shoulder_pitch.pos", |
| "right_shoulder_pitch.vel", |
| "right_shoulder_pitch.torque", |
| "right_shoulder_roll.pos", |
| "right_shoulder_roll.vel", |
| "right_shoulder_roll.torque", |
| "right_shoulder_yaw.pos", |
| "right_shoulder_yaw.vel", |
| "right_shoulder_yaw.torque", |
| "right_elbow.pos", |
| "right_elbow.vel", |
| "right_elbow.torque", |
| "right_wrist_roll.pos", |
| "right_wrist_roll.vel", |
| "right_wrist_roll.torque", |
| "right_wrist_yaw.pos", |
| "right_wrist_yaw.vel", |
| "right_wrist_yaw.torque", |
| "right_wrist_pitch.pos", |
| "right_wrist_pitch.vel", |
| "right_wrist_pitch.torque", |
| "right_gripper.pos", |
| "right_gripper.vel", |
| "right_gripper.torque" |
| ], |
| "shape": [ |
| 69 |
| ] |
| }, |
| "observation.images.cam_left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 848, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 848, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 848, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 848, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_high": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 848, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 848, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "complementary_info.policy_action": { |
| "dtype": "float32", |
| "shape": [ |
| 23 |
| ], |
| "names": [ |
| "wheel_left.pos", |
| "wheel_right.pos", |
| "lift.pos", |
| "waist_pitch.pos", |
| "waist_yaw.pos", |
| "head_yaw.pos", |
| "head_pitch.pos", |
| "left_shoulder_pitch.pos", |
| "left_shoulder_roll.pos", |
| "left_shoulder_yaw.pos", |
| "left_elbow.pos", |
| "left_wrist_roll.pos", |
| "left_wrist_yaw.pos", |
| "left_wrist_pitch.pos", |
| "left_gripper.pos", |
| "right_shoulder_pitch.pos", |
| "right_shoulder_roll.pos", |
| "right_shoulder_yaw.pos", |
| "right_elbow.pos", |
| "right_wrist_roll.pos", |
| "right_wrist_yaw.pos", |
| "right_wrist_pitch.pos", |
| "right_gripper.pos" |
| ] |
| }, |
| "complementary_info.is_intervention": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "is_intervention" |
| ] |
| }, |
| "complementary_info.state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "state" |
| ] |
| }, |
| "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 |
| } |
| } |
| } |
