| { |
| "codebase_version": "v3.0", |
| "robot_type": "rby1m_wujihand2", |
| "total_episodes": 3600, |
| "total_frames": 2947227, |
| "total_tasks": 30, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:3600" |
| }, |
| "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.joint_position": { |
| "dtype": "float32", |
| "shape": [ |
| 66 |
| ], |
| "names": [ |
| "wheel_fr", |
| "wheel_fl", |
| "wheel_rr", |
| "wheel_rl", |
| "torso_0", |
| "torso_1", |
| "torso_2", |
| "torso_3", |
| "torso_4", |
| "torso_5", |
| "right_arm_0", |
| "right_arm_1", |
| "right_arm_2", |
| "right_arm_3", |
| "right_arm_4", |
| "right_arm_5", |
| "right_arm_6", |
| "right_thumb_cmc_flex", |
| "right_thumb_cmc_abd", |
| "right_thumb_mcp", |
| "right_thumb_ip", |
| "right_index_finger_mcp_flex", |
| "right_index_finger_mcp_abd", |
| "right_index_finger_pip", |
| "right_index_finger_dip", |
| "right_middle_finger_mcp_flex", |
| "right_middle_finger_mcp_abd", |
| "right_middle_finger_pip", |
| "right_middle_finger_dip", |
| "right_ring_finger_mcp_flex", |
| "right_ring_finger_mcp_abd", |
| "right_ring_finger_pip", |
| "right_ring_finger_dip", |
| "right_pinky_mcp_flex", |
| "right_pinky_mcp_abd", |
| "right_pinky_pip", |
| "right_pinky_dip", |
| "left_arm_0", |
| "left_arm_1", |
| "left_arm_2", |
| "left_arm_3", |
| "left_arm_4", |
| "left_arm_5", |
| "left_arm_6", |
| "left_thumb_cmc_flex", |
| "left_thumb_cmc_abd", |
| "left_thumb_mcp", |
| "left_thumb_ip", |
| "left_index_finger_mcp_flex", |
| "left_index_finger_mcp_abd", |
| "left_index_finger_pip", |
| "left_index_finger_dip", |
| "left_middle_finger_mcp_flex", |
| "left_middle_finger_mcp_abd", |
| "left_middle_finger_pip", |
| "left_middle_finger_dip", |
| "left_ring_finger_mcp_flex", |
| "left_ring_finger_mcp_abd", |
| "left_ring_finger_pip", |
| "left_ring_finger_dip", |
| "left_pinky_mcp_flex", |
| "left_pinky_mcp_abd", |
| "left_pinky_pip", |
| "left_pinky_dip", |
| "head_0", |
| "head_1" |
| ], |
| "fps": 30 |
| }, |
| "observation.joint_velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 66 |
| ], |
| "names": [ |
| "wheel_fr", |
| "wheel_fl", |
| "wheel_rr", |
| "wheel_rl", |
| "torso_0", |
| "torso_1", |
| "torso_2", |
| "torso_3", |
| "torso_4", |
| "torso_5", |
| "right_arm_0", |
| "right_arm_1", |
| "right_arm_2", |
| "right_arm_3", |
| "right_arm_4", |
| "right_arm_5", |
| "right_arm_6", |
| "right_thumb_cmc_flex", |
| "right_thumb_cmc_abd", |
| "right_thumb_mcp", |
| "right_thumb_ip", |
| "right_index_finger_mcp_flex", |
| "right_index_finger_mcp_abd", |
| "right_index_finger_pip", |
| "right_index_finger_dip", |
| "right_middle_finger_mcp_flex", |
| "right_middle_finger_mcp_abd", |
| "right_middle_finger_pip", |
| "right_middle_finger_dip", |
| "right_ring_finger_mcp_flex", |
| "right_ring_finger_mcp_abd", |
| "right_ring_finger_pip", |
| "right_ring_finger_dip", |
| "right_pinky_mcp_flex", |
| "right_pinky_mcp_abd", |
| "right_pinky_pip", |
| "right_pinky_dip", |
| "left_arm_0", |
| "left_arm_1", |
| "left_arm_2", |
| "left_arm_3", |
| "left_arm_4", |
| "left_arm_5", |
| "left_arm_6", |
| "left_thumb_cmc_flex", |
| "left_thumb_cmc_abd", |
| "left_thumb_mcp", |
| "left_thumb_ip", |
| "left_index_finger_mcp_flex", |
| "left_index_finger_mcp_abd", |
| "left_index_finger_pip", |
| "left_index_finger_dip", |
| "left_middle_finger_mcp_flex", |
| "left_middle_finger_mcp_abd", |
| "left_middle_finger_pip", |
| "left_middle_finger_dip", |
| "left_ring_finger_mcp_flex", |
| "left_ring_finger_mcp_abd", |
| "left_ring_finger_pip", |
| "left_ring_finger_dip", |
| "left_pinky_mcp_flex", |
| "left_pinky_mcp_abd", |
| "left_pinky_pip", |
| "left_pinky_dip", |
| "head_0", |
| "head_1" |
| ], |
| "fps": 30 |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 66 |
| ], |
| "names": [ |
| "wheel_fr", |
| "wheel_fl", |
| "wheel_rr", |
| "wheel_rl", |
| "torso_0", |
| "torso_1", |
| "torso_2", |
| "torso_3", |
| "torso_4", |
| "torso_5", |
| "right_arm_0", |
| "right_arm_1", |
| "right_arm_2", |
| "right_arm_3", |
| "right_arm_4", |
| "right_arm_5", |
| "right_arm_6", |
| "right_thumb_cmc_flex", |
| "right_thumb_cmc_abd", |
| "right_thumb_mcp", |
| "right_thumb_ip", |
| "right_index_finger_mcp_flex", |
| "right_index_finger_mcp_abd", |
| "right_index_finger_pip", |
| "right_index_finger_dip", |
| "right_middle_finger_mcp_flex", |
| "right_middle_finger_mcp_abd", |
| "right_middle_finger_pip", |
| "right_middle_finger_dip", |
| "right_ring_finger_mcp_flex", |
| "right_ring_finger_mcp_abd", |
| "right_ring_finger_pip", |
| "right_ring_finger_dip", |
| "right_pinky_mcp_flex", |
| "right_pinky_mcp_abd", |
| "right_pinky_pip", |
| "right_pinky_dip", |
| "left_arm_0", |
| "left_arm_1", |
| "left_arm_2", |
| "left_arm_3", |
| "left_arm_4", |
| "left_arm_5", |
| "left_arm_6", |
| "left_thumb_cmc_flex", |
| "left_thumb_cmc_abd", |
| "left_thumb_mcp", |
| "left_thumb_ip", |
| "left_index_finger_mcp_flex", |
| "left_index_finger_mcp_abd", |
| "left_index_finger_pip", |
| "left_index_finger_dip", |
| "left_middle_finger_mcp_flex", |
| "left_middle_finger_mcp_abd", |
| "left_middle_finger_pip", |
| "left_middle_finger_dip", |
| "left_ring_finger_mcp_flex", |
| "left_ring_finger_mcp_abd", |
| "left_ring_finger_pip", |
| "left_ring_finger_dip", |
| "left_pinky_mcp_flex", |
| "left_pinky_mcp_abd", |
| "left_pinky_pip", |
| "left_pinky_dip", |
| "head_0", |
| "head_1" |
| ], |
| "fps": 30 |
| }, |
| "observation.images.camera_ego_left": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.camera_ego_right": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.camera_wrist_left": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.camera_wrist_right": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "done" |
| ], |
| "fps": 30 |
| } |
| }, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200 |
| } |
