| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "revo2", | |
| "total_episodes": 1, | |
| "total_frames": 679, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 29, | |
| "splits": { | |
| "train": "0:1" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", | |
| "features": { | |
| "observation.images.camera": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 848 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 848, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 29, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 34 | |
| ], | |
| "names": [ | |
| "right_hand_pos_x", | |
| "right_hand_pos_y", | |
| "right_hand_pos_z", | |
| "right_hand_rot_roll", | |
| "right_hand_rot_pitch", | |
| "right_hand_rot_yaw", | |
| "right_index_proximal_joint", | |
| "right_index_distal_joint", | |
| "right_middle_proximal_joint", | |
| "right_middle_distal_joint", | |
| "right_pinky_proximal_joint", | |
| "right_pinky_distal_joint", | |
| "right_ring_proximal_joint", | |
| "right_ring_distal_joint", | |
| "right_thumb_metacarpal_joint", | |
| "right_thumb_proximal_joint", | |
| "right_thumb_distal_joint", | |
| "left_hand_pos_x", | |
| "left_hand_pos_y", | |
| "left_hand_pos_z", | |
| "left_hand_rot_roll", | |
| "left_hand_rot_pitch", | |
| "left_hand_rot_yaw", | |
| "left_index_proximal_joint", | |
| "left_index_distal_joint", | |
| "left_middle_proximal_joint", | |
| "left_middle_distal_joint", | |
| "left_pinky_proximal_joint", | |
| "left_pinky_distal_joint", | |
| "left_ring_proximal_joint", | |
| "left_ring_distal_joint", | |
| "left_thumb_metacarpal_joint", | |
| "left_thumb_proximal_joint", | |
| "left_thumb_distal_joint" | |
| ] | |
| }, | |
| "observation.camera_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 34 | |
| ], | |
| "names": [ | |
| "right_hand_pos_x", | |
| "right_hand_pos_y", | |
| "right_hand_pos_z", | |
| "right_hand_rot_roll", | |
| "right_hand_rot_pitch", | |
| "right_hand_rot_yaw", | |
| "right_index_proximal_joint", | |
| "right_index_distal_joint", | |
| "right_middle_proximal_joint", | |
| "right_middle_distal_joint", | |
| "right_pinky_proximal_joint", | |
| "right_pinky_distal_joint", | |
| "right_ring_proximal_joint", | |
| "right_ring_distal_joint", | |
| "right_thumb_metacarpal_joint", | |
| "right_thumb_proximal_joint", | |
| "right_thumb_distal_joint", | |
| "left_hand_pos_x", | |
| "left_hand_pos_y", | |
| "left_hand_pos_z", | |
| "left_hand_rot_roll", | |
| "left_hand_rot_pitch", | |
| "left_hand_rot_yaw", | |
| "left_index_proximal_joint", | |
| "left_index_distal_joint", | |
| "left_middle_proximal_joint", | |
| "left_middle_distal_joint", | |
| "left_pinky_proximal_joint", | |
| "left_pinky_distal_joint", | |
| "left_ring_proximal_joint", | |
| "left_ring_distal_joint", | |
| "left_thumb_metacarpal_joint", | |
| "left_thumb_proximal_joint", | |
| "left_thumb_distal_joint" | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
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| ], | |
| "names": null | |
| }, | |
| "index": { | |
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| "names": null | |
| }, | |
| "task_index": { | |
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| ], | |
| "names": null | |
| } | |
| } | |
| } |