| { |
| "codebase_version": "v2.1", |
| "robot_type": "ffw_sg2_rev1", |
| "total_episodes": 20, |
| "total_frames": 8910, |
| "total_tasks": 1, |
| "total_videos": 60, |
| "total_chunks": 1, |
| "chunks_size": 10000, |
| "fps": 15, |
| "splits": { |
| "train": "0:20" |
| }, |
| "data_path": "data/task-{episode_chunk:04d}/episode_{episode_index:08d}.parquet", |
| "video_path": "videos/task-{episode_chunk:04d}/{video_key}/episode_{episode_index:08d}.mp4", |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 36 |
| ], |
| "names": [ |
| "arm_l_joint1", |
| "arm_l_joint2", |
| "arm_l_joint3", |
| "arm_l_joint4", |
| "arm_l_joint5", |
| "arm_l_joint6", |
| "arm_l_joint7", |
| "gripper_l_joint1", |
| "arm_r_joint1", |
| "arm_r_joint2", |
| "arm_r_joint3", |
| "arm_r_joint4", |
| "arm_r_joint5", |
| "arm_r_joint6", |
| "arm_r_joint7", |
| "gripper_r_joint1", |
| "head_joint1", |
| "head_joint2", |
| "lift_joint", |
| "linear_x", |
| "linear_y", |
| "angular_z", |
| "ee_left_x", |
| "ee_left_y", |
| "ee_left_z", |
| "ee_left_qx", |
| "ee_left_qy", |
| "ee_left_qz", |
| "ee_left_qw", |
| "ee_right_x", |
| "ee_right_y", |
| "ee_right_z", |
| "ee_right_qx", |
| "ee_right_qy", |
| "ee_right_qz", |
| "ee_right_qw" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 36 |
| ], |
| "names": [ |
| "arm_l_joint1", |
| "arm_l_joint2", |
| "arm_l_joint3", |
| "arm_l_joint4", |
| "arm_l_joint5", |
| "arm_l_joint6", |
| "arm_l_joint7", |
| "gripper_l_joint1", |
| "arm_r_joint1", |
| "arm_r_joint2", |
| "arm_r_joint3", |
| "arm_r_joint4", |
| "arm_r_joint5", |
| "arm_r_joint6", |
| "arm_r_joint7", |
| "gripper_r_joint1", |
| "head_joint1", |
| "head_joint2", |
| "lift_joint", |
| "linear_x", |
| "linear_y", |
| "angular_z", |
| "ee_left_x", |
| "ee_left_y", |
| "ee_left_z", |
| "ee_left_qx", |
| "ee_left_qy", |
| "ee_left_qz", |
| "ee_left_qw", |
| "ee_right_x", |
| "ee_right_y", |
| "ee_right_z", |
| "ee_right_qx", |
| "ee_right_qy", |
| "ee_right_qz", |
| "ee_right_qw" |
| ] |
| }, |
| "observation.images.rgb.cam_left_head": { |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.fps": 15.0, |
| "video.height": 720, |
| "video.width": 1280, |
| "video.channels": 3, |
| "video.codec": "libx265", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.rgb.cam_left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 640, |
| 480, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.fps": 15.0, |
| "video.height": 640, |
| "video.width": 480, |
| "video.channels": 3, |
| "video.codec": "libx265", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.rgb.cam_right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 640, |
| 480, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.fps": 15.0, |
| "video.height": 640, |
| "video.width": 480, |
| "video.channels": 3, |
| "video.codec": "libx265", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float64", |
| "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 |
| } |
| }, |
| "annotation_path": "annotations/task-{episode_chunk:04d}/episode_{episode_index:08d}.json" |
| } |
