| { |
| "codebase_version": "v3.0", |
| "robot_type": "alex_ability_hands", |
| "total_episodes": 20, |
| "total_frames": 1315, |
| "total_tasks": 1, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:20" |
| }, |
| "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": { |
| "observation.images.cam_zed_left": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 30.0, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
| "fps": 30.0 |
| }, |
| "observation.images.cam_zed_right": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
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| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
| "fps": 30.0 |
| }, |
| "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" |
| ], |
| "fps": 30.0 |
| }, |
| "action": { |
| "dtype": "float64", |
| "shape": [ |
| 34 |
| ], |
| "names": [ |
| "l_pos_x", |
| "l_pos_y", |
| "l_pos_z", |
| "l_quat_x", |
| "l_quat_y", |
| "l_quat_z", |
| "l_quat_w", |
| "r_pos_x", |
| "r_pos_y", |
| "r_pos_z", |
| "r_quat_x", |
| "r_quat_y", |
| "r_quat_z", |
| "r_quat_w", |
| "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" |
| ], |
| "fps": 30.0 |
| }, |
| "timestamp": { |
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| 1 |
| ], |
| "fps": 30.0 |
| }, |
| "annotation.human.action.task_description": { |
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| ], |
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| }, |
| "episode_index": { |
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| "fps": 30.0 |
| }, |
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| "index": { |
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| }, |
| "frame_index": { |
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| ], |
| "fps": 30.0 |
| }, |
| "next.reward": { |
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| 1 |
| ], |
| "fps": 30.0 |
| }, |
| "next.done": { |
| "dtype": "bool", |
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| ], |
| "fps": 30.0 |
| }, |
| "observation.img_state_delta": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "fps": 30.0 |
| } |
| } |
| } |
|
|
