| { |
| "codebase_version": "v2.1", |
| "robot_type": "dual_arx_x5_vr", |
| "total_episodes": 135, |
| "total_frames": 84594, |
| "total_tasks": 1, |
| "total_videos": 405, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:135" |
| }, |
| "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": { |
| "state.joint": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "left.joint1_rad", |
| "left.joint2_rad", |
| "left.joint3_rad", |
| "left.joint4_rad", |
| "left.joint5_rad", |
| "left.joint6_rad", |
| "left.gripper_open", |
| "right.joint1_rad", |
| "right.joint2_rad", |
| "right.joint3_rad", |
| "right.joint4_rad", |
| "right.joint5_rad", |
| "right.joint6_rad", |
| "right.gripper_open" |
| ] |
| }, |
| "action.joint": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "left.joint1_rad", |
| "left.joint2_rad", |
| "left.joint3_rad", |
| "left.joint4_rad", |
| "left.joint5_rad", |
| "left.joint6_rad", |
| "left.gripper_open", |
| "right.joint1_rad", |
| "right.joint2_rad", |
| "right.joint3_rad", |
| "right.joint4_rad", |
| "right.joint5_rad", |
| "right.joint6_rad", |
| "right.gripper_open" |
| ] |
| }, |
| "state.eef": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "left.x_mm", |
| "left.y_mm", |
| "left.z_mm", |
| "left.rx_rad", |
| "left.ry_rad", |
| "left.rz_rad", |
| "left.gripper_open", |
| "right.x_mm", |
| "right.y_mm", |
| "right.z_mm", |
| "right.rx_rad", |
| "right.ry_rad", |
| "right.rz_rad", |
| "right.gripper_open" |
| ] |
| }, |
| "action.eef": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "left.x_mm", |
| "left.y_mm", |
| "left.z_mm", |
| "left.rx_rad", |
| "left.ry_rad", |
| "left.rz_rad", |
| "left.gripper_open", |
| "right.x_mm", |
| "right.y_mm", |
| "right.z_mm", |
| "right.rx_rad", |
| "right.ry_rad", |
| "right.rz_rad", |
| "right.gripper_open" |
| ] |
| }, |
| "observation.images.third_view": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "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.left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "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.right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "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", |
| "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 |
| } |
| }, |
| "teleoperation": { |
| "execution_mode": "hardware", |
| "hardware_executed": true, |
| "video_encoding_workers": 1, |
| "episode_start_semantics": "first active controller trigger after arming", |
| "eef_state_action_order": [ |
| "left.x_mm", |
| "left.y_mm", |
| "left.z_mm", |
| "left.rx_rad", |
| "left.ry_rad", |
| "left.rz_rad", |
| "left.gripper_open", |
| "right.x_mm", |
| "right.y_mm", |
| "right.z_mm", |
| "right.rx_rad", |
| "right.ry_rad", |
| "right.rz_rad", |
| "right.gripper_open" |
| ], |
| "joint_state_action_order": [ |
| "left.joint1_rad", |
| "left.joint2_rad", |
| "left.joint3_rad", |
| "left.joint4_rad", |
| "left.joint5_rad", |
| "left.joint6_rad", |
| "left.gripper_open", |
| "right.joint1_rad", |
| "right.joint2_rad", |
| "right.joint3_rad", |
| "right.joint4_rad", |
| "right.joint5_rad", |
| "right.joint6_rad", |
| "right.gripper_open" |
| ], |
| "joint_state_semantics": "measured joint feedback in radians", |
| "translation_unit": "mm", |
| "rotation_unit": "axis_angle_rad", |
| "inactive_action_semantics": "Cartesian action holds current observation", |
| "joint_target_semantics": "joint position target sent to ARX SDK in radians, before SDK internal limiting", |
| "joint_target_hold_semantics": "last sent per-arm target, initialized from configured home joints" |
| } |
| } |
