| { |
| "codebase_version": "v2.1", |
| "robot_type": "hope_jr_hand", |
| "total_episodes": 1, |
| "total_frames": 150, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "thumb_cmc.pos", |
| "thumb_mcp.pos", |
| "thumb_pip.pos", |
| "thumb_dip.pos", |
| "index_radial_flexor.pos", |
| "index_ulnar_flexor.pos", |
| "index_pip_dip.pos", |
| "middle_radial_flexor.pos", |
| "middle_ulnar_flexor.pos", |
| "middle_pip_dip.pos", |
| "ring_radial_flexor.pos", |
| "ring_ulnar_flexor.pos", |
| "ring_pip_dip.pos", |
| "pinky_radial_flexor.pos", |
| "pinky_ulnar_flexor.pos", |
| "pinky_pip_dip.pos" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "thumb_cmc.pos", |
| "thumb_mcp.pos", |
| "thumb_pip.pos", |
| "thumb_dip.pos", |
| "index_radial_flexor.pos", |
| "index_ulnar_flexor.pos", |
| "index_pip_dip.pos", |
| "middle_radial_flexor.pos", |
| "middle_ulnar_flexor.pos", |
| "middle_pip_dip.pos", |
| "ring_radial_flexor.pos", |
| "ring_ulnar_flexor.pos", |
| "ring_pip_dip.pos", |
| "pinky_radial_flexor.pos", |
| "pinky_ulnar_flexor.pos", |
| "pinky_pip_dip.pos" |
| ] |
| }, |
| "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 |
| } |
| } |
| } |
