| { |
| "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": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 20.0, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float64", |
| "shape": [ |
| 31 |
| ], |
| "names": [ |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "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", |
| "waist_roll_joint", |
| "waist_pitch_joint" |
| ] |
| }, |
| "action": { |
| "dtype": "float64", |
| "shape": [ |
| 31 |
| ], |
| "names": [ |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "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", |
| "waist_roll_joint", |
| "waist_pitch_joint" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "annotation.human.task_description": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "annotation.human.valid": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "next.reward": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ] |
| } |
| } |
| } |
