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{
"codebase_version": "v2.1",
"robot_type": "dual_arm_robot",
"total_episodes": 1,
"total_frames": 4245,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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": {
"observation.arm2_servo_node_status_data": {
"dtype": "float32",
"shape": [
1
],
"names": [
"data"
]
},
"observation.arm2_controller_joint_trajectory_header": {
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"shape": [
1
],
"names": [
"header"
]
},
"observation.arm2_controller_joint_trajectory_joint_names": {
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1
],
"names": [
"joint_names"
]
},
"observation.arm2_controller_joint_trajectory_points": {
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"shape": [
1
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"names": [
"points"
]
},
"observation.arm2_servo_node_collision_velocity_scale_data": {
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1
],
"names": [
"data"
]
},
"observation.state": {
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"shape": [
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],
"names": [
"arm1_shoulder_pan_joint",
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm1_wrist_3_joint",
"arm1_robotiq_85_left_knuckle_joint",
"arm2_shoulder_pan_joint",
"arm2_shoulder_lift_joint",
"arm2_elbow_joint",
"arm2_wrist_1_joint",
"arm2_wrist_2_joint",
"arm2_wrist_3_joint",
"arm2_robotiq_85_left_knuckle_joint"
]
},
"action": {
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"shape": [
14
],
"names": [
"arm1_shoulder_pan_joint",
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm1_wrist_3_joint",
"arm1_robotiq_85_left_knuckle_joint",
"arm2_shoulder_pan_joint",
"arm2_shoulder_lift_joint",
"arm2_elbow_joint",
"arm2_wrist_1_joint",
"arm2_wrist_2_joint",
"arm2_wrist_3_joint",
"arm2_robotiq_85_left_knuckle_joint"
]
},
"observation.tf_transforms": {
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"shape": [
1
],
"names": [
"transforms"
]
},
"observation.robot_description_data": {
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"shape": [
1
],
"names": [
"data"
]
},
"observation.rosout_stamp": {
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"names": [
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]
},
"observation.rosout_level": {
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},
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"name"
]
},
"observation.rosout_msg": {
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],
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"msg"
]
},
"observation.rosout_file": {
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],
"names": [
"file"
]
},
"observation.rosout_function": {
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"names": [
"function"
]
},
"observation.rosout_line": {
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"names": [
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]
},
"timestamp": {
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],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
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"names": null
},
"task_index": {
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"names": null
}
}
}