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{
"codebase_version": "v2.0",
"robot_type": "nero-dual",
"total_episodes": 253,
"total_frames": 21338,
"total_tasks": 2,
"total_videos": 1265,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:253"
},
"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.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_joint6",
"left_joint7",
"left_gripper",
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_joint6",
"right_joint7",
"right_gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_joint6",
"left_joint7",
"left_gripper",
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_joint6",
"right_joint7",
"right_gripper"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.images.base": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 15.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 15.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 15.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.depth_wrist_left": {
"dtype": "video",
"shape": [
224,
224,
1
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 15.0,
"video.codec": "hevc",
"video.pix_fmt": "gray12le",
"is_depth_map": true,
"video.is_depth_map": true,
"video.depth_min": 0.0,
"video.depth_max": 3.0,
"video.shift": 3.5,
"video.use_log": true,
"video.g": 2,
"video.crf": null,
"video.preset": "fast",
"video.extra_options": {
"x265-params": "lossless=1"
},
"has_audio": false
}
},
"observation.images.depth_wrist_right": {
"dtype": "video",
"shape": [
224,
224,
1
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 15.0,
"video.codec": "hevc",
"video.pix_fmt": "gray12le",
"is_depth_map": true,
"video.is_depth_map": true,
"video.depth_min": 0.0,
"video.depth_max": 3.0,
"video.shift": 3.5,
"video.use_log": true,
"video.g": 2,
"video.crf": null,
"video.preset": "fast",
"video.extra_options": {
"x265-params": "lossless=1"
},
"has_audio": false
}
}
}
}