| { |
| "codebase_version": "v3.0", |
| "robot_type": "ego_tactile_glove", |
| "total_episodes": 72, |
| "total_frames": 138629, |
| "total_tasks": 463, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:72" |
| }, |
| "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.ego": { |
| "dtype": "video", |
| "shape": [ |
| 1080, |
| 1920, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 1080, |
| "video.width": 1920, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.tactile.left": { |
| "dtype": "float32", |
| "shape": [ |
| 80 |
| ], |
| "names": [ |
| "index_r0_c0", |
| "index_r0_c1", |
| "index_r0_c2", |
| "index_r0_c3", |
| "index_r1_c0", |
| "index_r1_c1", |
| "index_r1_c2", |
| "index_r1_c3", |
| "index_r2_c0", |
| "index_r2_c1", |
| "index_r2_c2", |
| "index_r2_c3", |
| "index_r3_c0", |
| "index_r3_c1", |
| "index_r3_c2", |
| "index_r3_c3", |
| "middle_r0_c0", |
| "middle_r0_c1", |
| "middle_r0_c2", |
| "middle_r0_c3", |
| "middle_r1_c0", |
| "middle_r1_c1", |
| "middle_r1_c2", |
| "middle_r1_c3", |
| "middle_r2_c0", |
| "middle_r2_c1", |
| "middle_r2_c2", |
| "middle_r2_c3", |
| "middle_r3_c0", |
| "middle_r3_c1", |
| "middle_r3_c2", |
| "middle_r3_c3", |
| "pinky_r0_c0", |
| "pinky_r0_c1", |
| "pinky_r0_c2", |
| "pinky_r0_c3", |
| "pinky_r1_c0", |
| "pinky_r1_c1", |
| "pinky_r1_c2", |
| "pinky_r1_c3", |
| "pinky_r2_c0", |
| "pinky_r2_c1", |
| "pinky_r2_c2", |
| "pinky_r2_c3", |
| "pinky_r3_c0", |
| "pinky_r3_c1", |
| "pinky_r3_c2", |
| "pinky_r3_c3", |
| "ring_r0_c0", |
| "ring_r0_c1", |
| "ring_r0_c2", |
| "ring_r0_c3", |
| "ring_r1_c0", |
| "ring_r1_c1", |
| "ring_r1_c2", |
| "ring_r1_c3", |
| "ring_r2_c0", |
| "ring_r2_c1", |
| "ring_r2_c2", |
| "ring_r2_c3", |
| "ring_r3_c0", |
| "ring_r3_c1", |
| "ring_r3_c2", |
| "ring_r3_c3", |
| "thumb_r0_c0", |
| "thumb_r0_c1", |
| "thumb_r0_c2", |
| "thumb_r0_c3", |
| "thumb_r1_c0", |
| "thumb_r1_c1", |
| "thumb_r1_c2", |
| "thumb_r1_c3", |
| "thumb_r2_c0", |
| "thumb_r2_c1", |
| "thumb_r2_c2", |
| "thumb_r2_c3", |
| "thumb_r3_c0", |
| "thumb_r3_c1", |
| "thumb_r3_c2", |
| "thumb_r3_c3" |
| ] |
| }, |
| "observation.tactile.right": { |
| "dtype": "float32", |
| "shape": [ |
| 80 |
| ], |
| "names": [ |
| "index_r0_c0", |
| "index_r0_c1", |
| "index_r0_c2", |
| "index_r0_c3", |
| "index_r1_c0", |
| "index_r1_c1", |
| "index_r1_c2", |
| "index_r1_c3", |
| "index_r2_c0", |
| "index_r2_c1", |
| "index_r2_c2", |
| "index_r2_c3", |
| "index_r3_c0", |
| "index_r3_c1", |
| "index_r3_c2", |
| "index_r3_c3", |
| "middle_r0_c0", |
| "middle_r0_c1", |
| "middle_r0_c2", |
| "middle_r0_c3", |
| "middle_r1_c0", |
| "middle_r1_c1", |
| "middle_r1_c2", |
| "middle_r1_c3", |
| "middle_r2_c0", |
| "middle_r2_c1", |
| "middle_r2_c2", |
| "middle_r2_c3", |
| "middle_r3_c0", |
| "middle_r3_c1", |
| "middle_r3_c2", |
| "middle_r3_c3", |
| "pinky_r0_c0", |
| "pinky_r0_c1", |
| "pinky_r0_c2", |
| "pinky_r0_c3", |
| "pinky_r1_c0", |
| "pinky_r1_c1", |
| "pinky_r1_c2", |
| "pinky_r1_c3", |
| "pinky_r2_c0", |
| "pinky_r2_c1", |
| "pinky_r2_c2", |
| "pinky_r2_c3", |
| "pinky_r3_c0", |
| "pinky_r3_c1", |
| "pinky_r3_c2", |
| "pinky_r3_c3", |
| "ring_r0_c0", |
| "ring_r0_c1", |
| "ring_r0_c2", |
| "ring_r0_c3", |
| "ring_r1_c0", |
| "ring_r1_c1", |
| "ring_r1_c2", |
| "ring_r1_c3", |
| "ring_r2_c0", |
| "ring_r2_c1", |
| "ring_r2_c2", |
| "ring_r2_c3", |
| "ring_r3_c0", |
| "ring_r3_c1", |
| "ring_r3_c2", |
| "ring_r3_c3", |
| "thumb_r0_c0", |
| "thumb_r0_c1", |
| "thumb_r0_c2", |
| "thumb_r0_c3", |
| "thumb_r1_c0", |
| "thumb_r1_c1", |
| "thumb_r1_c2", |
| "thumb_r1_c3", |
| "thumb_r2_c0", |
| "thumb_r2_c1", |
| "thumb_r2_c2", |
| "thumb_r2_c3", |
| "thumb_r3_c0", |
| "thumb_r3_c1", |
| "thumb_r3_c2", |
| "thumb_r3_c3" |
| ] |
| }, |
| "observation.wrist_imu.left": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "ax", |
| "ay", |
| "az", |
| "gx", |
| "gy", |
| "gz" |
| ] |
| }, |
| "observation.wrist_imu.right": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "ax", |
| "ay", |
| "az", |
| "gx", |
| "gy", |
| "gz" |
| ] |
| }, |
| "observation.imu.head": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "ax", |
| "ay", |
| "az", |
| "gx", |
| "gy", |
| "gz", |
| "grx", |
| "gry", |
| "grz" |
| ] |
| }, |
| "annotation.l0_action": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "annotation.l1_subaction": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "annotation.anchor": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "annotation.grasp_type": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "annotation.hand": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "annotation.target_object": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "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 |
| } |
| } |
| } |
