| { | |
| "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": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "header" | |
| ] | |
| }, | |
| "observation.arm2_controller_joint_trajectory_joint_names": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "joint_names" | |
| ] | |
| }, | |
| "observation.arm2_controller_joint_trajectory_points": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "points" | |
| ] | |
| }, | |
| "observation.arm2_servo_node_collision_velocity_scale_data": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "data" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "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" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "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": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "transforms" | |
| ] | |
| }, | |
| "observation.robot_description_data": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "data" | |
| ] | |
| }, | |
| "observation.rosout_stamp": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "stamp" | |
| ] | |
| }, | |
| "observation.rosout_level": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "level" | |
| ] | |
| }, | |
| "observation.rosout_name": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "name" | |
| ] | |
| }, | |
| "observation.rosout_msg": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "msg" | |
| ] | |
| }, | |
| "observation.rosout_file": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "file" | |
| ] | |
| }, | |
| "observation.rosout_function": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "function" | |
| ] | |
| }, | |
| "observation.rosout_line": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "line" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |