| { |
| "codebase_version": "v2.1", |
| "robot_type": "alex_ability_hands", |
| "total_episodes": 100, |
| "total_frames": 8182, |
| "total_tasks": 1, |
| "total_videos": 200, |
| "total_chunks": 0, |
| "chunks_size": 1000, |
| "fps": 30, |
| "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.zed_left_cam": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.width": 640, |
| "video.height": 480, |
| "video.fps": 30.0, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.channels": 3, |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.zed_right_cam": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.width": 640, |
| "video.height": 480, |
| "video.fps": 30.0, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.channels": 3, |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 49 |
| ], |
| "names": [ |
| "LEFT_HIP_X", |
| "LEFT_HIP_Z", |
| "LEFT_HIP_Y", |
| "LEFT_KNEE_Y", |
| "LEFT_ANKLE_Y", |
| "LEFT_ANKLE_X", |
| "RIGHT_HIP_X", |
| "RIGHT_HIP_Z", |
| "RIGHT_HIP_Y", |
| "RIGHT_KNEE_Y", |
| "RIGHT_ANKLE_Y", |
| "RIGHT_ANKLE_X", |
| "SPINE_Z", |
| "NECK_Z", |
| "NECK_Y", |
| "LEFT_SHOULDER_Y", |
| "LEFT_SHOULDER_X", |
| "LEFT_SHOULDER_Z", |
| "LEFT_ELBOW_Y", |
| "LEFT_WRIST_Z", |
| "LEFT_WRIST_X", |
| "LEFT_GRIPPER_Z", |
| "RIGHT_SHOULDER_Y", |
| "RIGHT_SHOULDER_X", |
| "RIGHT_SHOULDER_Z", |
| "RIGHT_ELBOW_Y", |
| "RIGHT_WRIST_Z", |
| "RIGHT_WRIST_X", |
| "RIGHT_GRIPPER_Z", |
| "left_ability_hand_index_q1", |
| "left_ability_hand_index_q2", |
| "left_ability_hand_middle_q1", |
| "left_ability_hand_middle_q2", |
| "left_ability_hand_ring_q1", |
| "left_ability_hand_ring_q2", |
| "left_ability_hand_pinky_q1", |
| "left_ability_hand_pinky_q2", |
| "left_ability_hand_thumb_q1", |
| "left_ability_hand_thumb_q2", |
| "right_ability_hand_index_q1", |
| "right_ability_hand_index_q2", |
| "right_ability_hand_middle_q1", |
| "right_ability_hand_middle_q2", |
| "right_ability_hand_ring_q1", |
| "right_ability_hand_ring_q2", |
| "right_ability_hand_pinky_q1", |
| "right_ability_hand_pinky_q2", |
| "right_ability_hand_thumb_q1", |
| "right_ability_hand_thumb_q2" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 34 |
| ], |
| "names": [ |
| "LEFT_SHOULDER_Y", |
| "LEFT_SHOULDER_X", |
| "LEFT_SHOULDER_Z", |
| "LEFT_ELBOW_Y", |
| "LEFT_WRIST_Z", |
| "LEFT_WRIST_X", |
| "LEFT_GRIPPER_Z", |
| "RIGHT_SHOULDER_Y", |
| "RIGHT_SHOULDER_X", |
| "RIGHT_SHOULDER_Z", |
| "RIGHT_ELBOW_Y", |
| "RIGHT_WRIST_Z", |
| "RIGHT_WRIST_X", |
| "RIGHT_GRIPPER_Z", |
| "left_ability_hand_index_q1", |
| "left_ability_hand_middle_q1", |
| "left_ability_hand_ring_q1", |
| "left_ability_hand_pinky_q1", |
| "right_ability_hand_index_q1", |
| "right_ability_hand_middle_q1", |
| "right_ability_hand_ring_q1", |
| "right_ability_hand_pinky_q1", |
| "left_ability_hand_thumb_q1", |
| "right_ability_hand_thumb_q1", |
| "left_ability_hand_index_q2", |
| "left_ability_hand_middle_q2", |
| "left_ability_hand_ring_q2", |
| "left_ability_hand_pinky_q2", |
| "right_ability_hand_index_q2", |
| "right_ability_hand_middle_q2", |
| "right_ability_hand_ring_q2", |
| "right_ability_hand_pinky_q2", |
| "left_ability_hand_thumb_q2", |
| "right_ability_hand_thumb_q2" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "annotation.human.action.task_description": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "next.reward": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.img_state_delta": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ] |
| } |
| } |
| } |
