| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "humanoid", | |
| "total_episodes": 103, | |
| "total_frames": 78369, | |
| "total_tasks": 2, | |
| "total_videos": 103, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 50.0, | |
| "splits": { | |
| "train": "0:100" | |
| }, | |
| "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": { | |
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| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
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| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
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| "has_audio": false | |
| } | |
| }, | |
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| "left_hip_roll_joint", | |
| "left_hip_yaw_joint", | |
| "left_knee_joint", | |
| "left_ankle_pitch_joint", | |
| "left_ankle_roll_joint", | |
| "right_hip_pitch_joint", | |
| "right_hip_roll_joint", | |
| "right_hip_yaw_joint", | |
| "right_knee_joint", | |
| "right_ankle_pitch_joint", | |
| "right_ankle_roll_joint", | |
| "waist_yaw_joint", | |
| "waist_roll_joint", | |
| "waist_pitch_joint", | |
| "left_shoulder_pitch_joint", | |
| "left_shoulder_roll_joint", | |
| "left_shoulder_yaw_joint", | |
| "left_elbow_joint", | |
| "left_wrist_roll_joint", | |
| "left_wrist_pitch_joint", | |
| "left_wrist_yaw_joint", | |
| "left_hand_index_0_joint", | |
| "left_hand_index_1_joint", | |
| "left_hand_middle_0_joint", | |
| "left_hand_middle_1_joint", | |
| "left_hand_thumb_0_joint", | |
| "left_hand_thumb_1_joint", | |
| "left_hand_thumb_2_joint", | |
| "right_shoulder_pitch_joint", | |
| "right_shoulder_roll_joint", | |
| "right_shoulder_yaw_joint", | |
| "right_elbow_joint", | |
| "right_wrist_roll_joint", | |
| "right_wrist_pitch_joint", | |
| "right_wrist_yaw_joint", | |
| "right_hand_index_0_joint", | |
| "right_hand_index_1_joint", | |
| "right_hand_middle_0_joint", | |
| "right_hand_middle_1_joint", | |
| "right_hand_thumb_0_joint", | |
| "right_hand_thumb_1_joint", | |
| "right_hand_thumb_2_joint" | |
| ] | |
| }, | |
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| ], | |
| "names": [ | |
| "left_wrist_pos", | |
| "left_wrist_abs_quat", | |
| "right_wrist_pos", | |
| "right_wrist_abs_quat" | |
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| }, | |
| "action": { | |
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| 43 | |
| ], | |
| "names": [ | |
| "left_hip_pitch_joint", | |
| "left_hip_roll_joint", | |
| "left_hip_yaw_joint", | |
| "left_knee_joint", | |
| "left_ankle_pitch_joint", | |
| "left_ankle_roll_joint", | |
| "right_hip_pitch_joint", | |
| "right_hip_roll_joint", | |
| "right_hip_yaw_joint", | |
| "right_knee_joint", | |
| "right_ankle_pitch_joint", | |
| "right_ankle_roll_joint", | |
| "waist_yaw_joint", | |
| "waist_roll_joint", | |
| "waist_pitch_joint", | |
| "left_shoulder_pitch_joint", | |
| "left_shoulder_roll_joint", | |
| "left_shoulder_yaw_joint", | |
| "left_elbow_joint", | |
| "left_wrist_roll_joint", | |
| "left_wrist_pitch_joint", | |
| "left_wrist_yaw_joint", | |
| "left_hand_index_0_joint", | |
| "left_hand_index_1_joint", | |
| "left_hand_middle_0_joint", | |
| "left_hand_middle_1_joint", | |
| "left_hand_thumb_0_joint", | |
| "left_hand_thumb_1_joint", | |
| "left_hand_thumb_2_joint", | |
| "right_shoulder_pitch_joint", | |
| "right_shoulder_roll_joint", | |
| "right_shoulder_yaw_joint", | |
| "right_elbow_joint", | |
| "right_wrist_roll_joint", | |
| "right_wrist_pitch_joint", | |
| "right_wrist_yaw_joint", | |
| "right_hand_index_0_joint", | |
| "right_hand_index_1_joint", | |
| "right_hand_middle_0_joint", | |
| "right_hand_middle_1_joint", | |
| "right_hand_thumb_0_joint", | |
| "right_hand_thumb_1_joint", | |
| "right_hand_thumb_2_joint" | |
| ] | |
| }, | |
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| ], | |
| "names": [ | |
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| "right_wrist_pos", | |
| "right_wrist_abs_quat" | |
| ] | |
| }, | |
| "teleop.navigate_command": { | |
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| ], | |
| "names": [ | |
| "lin_vel_x", | |
| "lin_vel_y", | |
| "ang_vel_z" | |
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| }, | |
| "teleop.base_height_command": { | |
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| 1 | |
| ], | |
| "names": "base_height_command" | |
| }, | |
| "observation.sim.seed": { | |
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| 1 | |
| ] | |
| }, | |
| "observation.sim.max_mujoco_state_len": { | |
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| ] | |
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| "observation.sim.mujoco_state": { | |
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| ] | |
| }, | |
| "observation.sim.left_wrist": { | |
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| 16 | |
| ] | |
| }, | |
| "observation.sim.right_wrist": { | |
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| ] | |
| }, | |
| "observation.sim.left_fingers": { | |
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| ] | |
| }, | |
| "observation.sim.right_fingers": { | |
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| 400 | |
| ] | |
| }, | |
| "observation.sim.target_upper_body_pose": { | |
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| 31 | |
| ] | |
| }, | |
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| } | |
| } |