| { |
| "codebase_version": "v3.0", |
| "robot_type": "icub_mujoco", |
| "total_episodes": 1, |
| "total_frames": 60, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:1" |
| }, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "rh_pos_x", |
| "rh_pos_y", |
| "rh_pos_z", |
| "rh_quat_w", |
| "rh_quat_x", |
| "rh_quat_y", |
| "rh_quat_z", |
| "rh_gripper", |
| "lh_pos_x", |
| "lh_pos_y", |
| "lh_pos_z", |
| "lh_quat_w", |
| "lh_quat_x", |
| "lh_quat_y", |
| "lh_quat_z", |
| "lh_gripper", |
| "gaze_x", |
| "gaze_y", |
| "gaze_z" |
| ], |
| "shape": [ |
| 19 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "torso_pitch", |
| "torso_roll", |
| "torso_yaw", |
| "l_shoulder_pitch", |
| "l_shoulder_roll", |
| "l_shoulder_yaw", |
| "l_elbow", |
| "l_wrist_prosup", |
| "l_wrist_pitch", |
| "l_wrist_yaw", |
| "l_hand_finger", |
| "l_thumb_oppose", |
| "l_thumb_proximal", |
| "l_thumb_distal", |
| "l_index_proximal", |
| "l_index_distal", |
| "l_middle_proximal", |
| "l_middle_distal", |
| "l_pinky", |
| "r_shoulder_pitch", |
| "r_shoulder_roll", |
| "r_shoulder_yaw", |
| "r_elbow", |
| "r_wrist_prosup", |
| "r_wrist_pitch", |
| "r_wrist_yaw", |
| "r_hand_finger", |
| "r_thumb_oppose", |
| "r_thumb_proximal", |
| "r_thumb_distal", |
| "r_index_proximal", |
| "r_index_distal", |
| "r_middle_proximal", |
| "r_middle_distal", |
| "r_pinky", |
| "neck_pitch", |
| "neck_roll", |
| "neck_yaw", |
| "torso_pitch_vel", |
| "torso_roll_vel", |
| "torso_yaw_vel", |
| "l_shoulder_pitch_vel", |
| "l_shoulder_roll_vel", |
| "l_shoulder_yaw_vel", |
| "l_elbow_vel", |
| "l_wrist_prosup_vel", |
| "l_wrist_pitch_vel", |
| "l_wrist_yaw_vel", |
| "l_hand_finger_vel", |
| "l_thumb_oppose_vel", |
| "l_thumb_proximal_vel", |
| "l_thumb_distal_vel", |
| "l_index_proximal_vel", |
| "l_index_distal_vel", |
| "l_middle_proximal_vel", |
| "l_middle_distal_vel", |
| "l_pinky_vel", |
| "r_shoulder_pitch_vel", |
| "r_shoulder_roll_vel", |
| "r_shoulder_yaw_vel", |
| "r_elbow_vel", |
| "r_wrist_prosup_vel", |
| "r_wrist_pitch_vel", |
| "r_wrist_yaw_vel", |
| "r_hand_finger_vel", |
| "r_thumb_oppose_vel", |
| "r_thumb_proximal_vel", |
| "r_thumb_distal_vel", |
| "r_index_proximal_vel", |
| "r_index_distal_vel", |
| "r_middle_proximal_vel", |
| "r_middle_distal_vel", |
| "r_pinky_vel", |
| "neck_pitch_vel", |
| "neck_roll_vel", |
| "neck_yaw_vel", |
| "rh_ee_pos_x", |
| "rh_ee_pos_y", |
| "rh_ee_pos_z", |
| "rh_ee_quat_w", |
| "rh_ee_quat_x", |
| "rh_ee_quat_y", |
| "rh_ee_quat_z", |
| "lh_ee_pos_x", |
| "lh_ee_pos_y", |
| "lh_ee_pos_z", |
| "lh_ee_quat_w", |
| "lh_ee_quat_x", |
| "lh_ee_quat_y", |
| "lh_ee_quat_z", |
| "rh_target_pos_x", |
| "rh_target_pos_y", |
| "rh_target_pos_z", |
| "rh_target_quat_w", |
| "rh_target_quat_x", |
| "rh_target_quat_y", |
| "rh_target_quat_z", |
| "lh_target_pos_x", |
| "lh_target_pos_y", |
| "lh_target_pos_z", |
| "lh_target_quat_w", |
| "lh_target_quat_x", |
| "lh_target_quat_y", |
| "lh_target_quat_z", |
| "gaze_target_pos_x", |
| "gaze_target_pos_y", |
| "gaze_target_pos_z", |
| "rh_gripper", |
| "lh_gripper", |
| "rh_touch_thumb", |
| "rh_touch_index", |
| "rh_touch_middle", |
| "lh_touch_thumb", |
| "lh_touch_index", |
| "lh_touch_middle", |
| "object_pos_x", |
| "object_pos_y", |
| "object_pos_z", |
| "object_quat_w", |
| "object_quat_x", |
| "object_quat_y", |
| "object_quat_z", |
| "torso_pitch_torque", |
| "torso_roll_torque", |
| "torso_yaw_torque", |
| "l_shoulder_pitch_torque", |
| "l_shoulder_roll_torque", |
| "l_shoulder_yaw_torque", |
| "l_elbow_torque", |
| "l_wrist_prosup_torque", |
| "l_wrist_pitch_torque", |
| "l_wrist_yaw_torque", |
| "l_hand_finger_torque", |
| "l_thumb_oppose_torque", |
| "l_thumb_proximal_torque", |
| "l_thumb_distal_torque", |
| "l_index_proximal_torque", |
| "l_index_distal_torque", |
| "l_middle_proximal_torque", |
| "l_middle_distal_torque", |
| "l_pinky_torque", |
| "r_shoulder_pitch_torque", |
| "r_shoulder_roll_torque", |
| "r_shoulder_yaw_torque", |
| "r_elbow_torque", |
| "r_wrist_prosup_torque", |
| "r_wrist_pitch_torque", |
| "r_wrist_yaw_torque", |
| "r_hand_finger_torque", |
| "r_thumb_oppose_torque", |
| "r_thumb_proximal_torque", |
| "r_thumb_distal_torque", |
| "r_index_proximal_torque", |
| "r_index_distal_torque", |
| "r_middle_proximal_torque", |
| "r_middle_distal_torque", |
| "r_pinky_torque", |
| "neck_pitch_torque", |
| "neck_roll_torque", |
| "neck_yaw_torque", |
| "rh_ext_force_x", |
| "rh_ext_force_y", |
| "rh_ext_force_z", |
| "lh_ext_force_x", |
| "lh_ext_force_y", |
| "lh_ext_force_z" |
| ], |
| "shape": [ |
| 166 |
| ] |
| }, |
| "observation.images.head_cam": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 240, |
| 320 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 240, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.head_cam_track_hand": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 240, |
| 320 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 240, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.frontview": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 240, |
| 320 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 240, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "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 |
| } |
| } |
| } |
