| { |
| "codebase_version": "v3.0", |
| "robot_type": "Tienkung_Inspire", |
| "total_episodes": 13, |
| "total_frames": 5803, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "fps": 30, |
| "splits": { |
| "train": "0:13" |
| }, |
| "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.state": { |
| "dtype": "float32", |
| "shape": [ |
| 28 |
| ], |
| "names": [ |
| [ |
| "shoulder_pitch_l_joint", |
| "shoulder_roll_l_joint", |
| "shoulder_yaw_l_joint", |
| "elbow_pitch_l_joint", |
| "elbow_yaw_l_joint", |
| "wrist_pitch_l_joint", |
| "wrist_roll_l_joint", |
| "L_pinky_proximal_joint", |
| "L_ring_proximal_joint", |
| "L_middle_proximal_joint", |
| "L_index_proximal_joint", |
| "L_thumb_proximal_pitch_joint", |
| "L_thumb_proximal_yaw_joint", |
| "shoulder_pitch_r_joint", |
| "shoulder_roll_r_joint", |
| "shoulder_yaw_r_joint", |
| "elbow_pitch_r_joint", |
| "elbow_yaw_r_joint", |
| "wrist_pitch_r_joint", |
| "wrist_roll_r_joint", |
| "R_pinky_proximal_joint", |
| "R_ring_proximal_joint", |
| "R_middle_proximal_joint", |
| "R_index_proximal_joint", |
| "R_thumb_proximal_pitch_joint", |
| "R_thumb_proximal_yaw_joint", |
| "head_pitch_joint", |
| "head_yaw_joint" |
| ] |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 28 |
| ], |
| "names": [ |
| [ |
| "shoulder_pitch_l_joint", |
| "shoulder_roll_l_joint", |
| "shoulder_yaw_l_joint", |
| "elbow_pitch_l_joint", |
| "elbow_yaw_l_joint", |
| "wrist_pitch_l_joint", |
| "wrist_roll_l_joint", |
| "L_pinky_proximal_joint", |
| "L_ring_proximal_joint", |
| "L_middle_proximal_joint", |
| "L_index_proximal_joint", |
| "L_thumb_proximal_pitch_joint", |
| "L_thumb_proximal_yaw_joint", |
| "shoulder_pitch_r_joint", |
| "shoulder_roll_r_joint", |
| "shoulder_yaw_r_joint", |
| "elbow_pitch_r_joint", |
| "elbow_yaw_r_joint", |
| "wrist_pitch_r_joint", |
| "wrist_roll_r_joint", |
| "R_pinky_proximal_joint", |
| "R_ring_proximal_joint", |
| "R_middle_proximal_joint", |
| "R_index_proximal_joint", |
| "R_thumb_proximal_pitch_joint", |
| "R_thumb_proximal_yaw_joint", |
| "head_pitch_joint", |
| "head_yaw_joint" |
| ] |
| ] |
| }, |
| "observation.images.camera": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.depth": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
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| ], |
| "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 |
| } |
| } |
| } |
