| { |
| "codebase_version": "v2.1", |
| "robot_type": "DualPanda", |
| "total_episodes": 1, |
| "total_frames": 7920, |
| "total_tasks": 1, |
| "total_videos": 0, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 50, |
| "splits": { |
| "train": "0:1" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": null, |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 18 |
| ], |
| "names": [ |
| "l_robot/joint1", |
| "l_robot/joint2", |
| "l_robot/joint3", |
| "l_robot/joint4", |
| "l_robot/joint5", |
| "l_robot/joint6", |
| "l_robot/joint7", |
| "l_robot/finger_joint1", |
| "l_robot/finger_joint2", |
| "r_robot/joint1", |
| "r_robot/joint2", |
| "r_robot/joint3", |
| "r_robot/joint4", |
| "r_robot/joint5", |
| "r_robot/joint6", |
| "r_robot/joint7", |
| "r_robot/finger_joint1", |
| "r_robot/finger_joint2" |
| ] |
| }, |
| "observation.environment_state": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "jasminetea_px", |
| "jasminetea_py", |
| "jasminetea_pz", |
| "jasminetea_qw", |
| "jasminetea_qx", |
| "jasminetea_qy", |
| "jasminetea_qz" |
| ] |
| }, |
| "observation.qvel": { |
| "dtype": "float32", |
| "shape": [ |
| 18 |
| ], |
| "names": [ |
| "l_robot/joint1", |
| "l_robot/joint2", |
| "l_robot/joint3", |
| "l_robot/joint4", |
| "l_robot/joint5", |
| "l_robot/joint6", |
| "l_robot/joint7", |
| "l_robot/finger_joint1", |
| "l_robot/finger_joint2", |
| "r_robot/joint1", |
| "r_robot/joint2", |
| "r_robot/joint3", |
| "r_robot/joint4", |
| "r_robot/joint5", |
| "r_robot/joint6", |
| "r_robot/joint7", |
| "r_robot/finger_joint1", |
| "r_robot/finger_joint2" |
| ] |
| }, |
| "observation.env_qvel": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "jasminetea_vx", |
| "jasminetea_vy", |
| "jasminetea_vz", |
| "jasminetea_wx", |
| "jasminetea_wy", |
| "jasminetea_wz" |
| ] |
| }, |
| "observation.ee_pose": { |
| "dtype": "float32", |
| "shape": [ |
| 56 |
| ], |
| "names": [ |
| "r_robot_left_finger_tip_x", |
| "r_robot_left_finger_tip_y", |
| "r_robot_left_finger_tip_z", |
| "r_robot_left_finger_tip_qw", |
| "r_robot_left_finger_tip_qx", |
| "r_robot_left_finger_tip_qy", |
| "r_robot_left_finger_tip_qz", |
| "r_robot_right_finger_tip_x", |
| "r_robot_right_finger_tip_y", |
| "r_robot_right_finger_tip_z", |
| "r_robot_right_finger_tip_qw", |
| "r_robot_right_finger_tip_qx", |
| "r_robot_right_finger_tip_qy", |
| "r_robot_right_finger_tip_qz", |
| "r_robot_left_finger_base_x", |
| "r_robot_left_finger_base_y", |
| "r_robot_left_finger_base_z", |
| "r_robot_left_finger_base_qw", |
| "r_robot_left_finger_base_qx", |
| "r_robot_left_finger_base_qy", |
| "r_robot_left_finger_base_qz", |
| "r_robot_right_finger_base_x", |
| "r_robot_right_finger_base_y", |
| "r_robot_right_finger_base_z", |
| "r_robot_right_finger_base_qw", |
| "r_robot_right_finger_base_qx", |
| "r_robot_right_finger_base_qy", |
| "r_robot_right_finger_base_qz", |
| "l_robot_left_finger_tip_x", |
| "l_robot_left_finger_tip_y", |
| "l_robot_left_finger_tip_z", |
| "l_robot_left_finger_tip_qw", |
| "l_robot_left_finger_tip_qx", |
| "l_robot_left_finger_tip_qy", |
| "l_robot_left_finger_tip_qz", |
| "l_robot_right_finger_tip_x", |
| "l_robot_right_finger_tip_y", |
| "l_robot_right_finger_tip_z", |
| "l_robot_right_finger_tip_qw", |
| "l_robot_right_finger_tip_qx", |
| "l_robot_right_finger_tip_qy", |
| "l_robot_right_finger_tip_qz", |
| "l_robot_left_finger_base_x", |
| "l_robot_left_finger_base_y", |
| "l_robot_left_finger_base_z", |
| "l_robot_left_finger_base_qw", |
| "l_robot_left_finger_base_qx", |
| "l_robot_left_finger_base_qy", |
| "l_robot_left_finger_base_qz", |
| "l_robot_right_finger_base_x", |
| "l_robot_right_finger_base_y", |
| "l_robot_right_finger_base_z", |
| "l_robot_right_finger_base_qw", |
| "l_robot_right_finger_base_qx", |
| "l_robot_right_finger_base_qy", |
| "l_robot_right_finger_base_qz" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "l_robot/actuator1", |
| "l_robot/actuator2", |
| "l_robot/actuator3", |
| "l_robot/actuator4", |
| "l_robot/actuator5", |
| "l_robot/actuator6", |
| "l_robot/actuator7", |
| "l_robot//unnamed_actuator_7", |
| "r_robot/actuator1", |
| "r_robot/actuator2", |
| "r_robot/actuator3", |
| "r_robot/actuator4", |
| "r_robot/actuator5", |
| "r_robot/actuator6", |
| "r_robot/actuator7", |
| "r_robot//unnamed_actuator_7" |
| ] |
| }, |
| "action.fingertip_target": { |
| "dtype": "float32", |
| "shape": [ |
| 24 |
| ], |
| "names": [ |
| "right_lb_target_x", |
| "right_lb_target_y", |
| "right_lb_target_z", |
| "right_lf_target_x", |
| "right_lf_target_y", |
| "right_lf_target_z", |
| "right_rb_target_x", |
| "right_rb_target_y", |
| "right_rb_target_z", |
| "right_rf_target_x", |
| "right_rf_target_y", |
| "right_rf_target_z", |
| "left_lb_target_x", |
| "left_lb_target_y", |
| "left_lb_target_z", |
| "left_lf_target_x", |
| "left_lf_target_y", |
| "left_lf_target_z", |
| "left_rb_target_x", |
| "left_rb_target_y", |
| "left_rb_target_z", |
| "left_rf_target_x", |
| "left_rf_target_y", |
| "left_rf_target_z" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
