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meta/info.json

@@ -0,0 +1,254 @@
+{
+    "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"
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "pick up the object and place it in the target area"}