| { |
| "codebase_version": "v2.1", |
| "robot_type": "manus_gloves", |
| "fps": 30, |
| "total_episodes": 20, |
| "total_frames": 96544, |
| "total_tasks": 2, |
| "total_videos": 20, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "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": { |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.images.egocentric": { |
| "dtype": "video", |
| "shape": [ |
| 1080, |
| 1920, |
| 3 |
| ], |
| "video_info": { |
| "video.fps": 30.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.state.hand_joints": { |
| "dtype": "float32", |
| "shape": [ |
| 150 |
| ] |
| }, |
| "observation.state.finger_angles": { |
| "dtype": "float32", |
| "shape": [ |
| 40 |
| ] |
| }, |
| "observation.state.gestures": { |
| "dtype": "float32", |
| "shape": [ |
| 26 |
| ] |
| }, |
| "observation.state.imu": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "depth": { |
| "path": "depth/episode_{episode_index:06d}.bin", |
| "dtype": "uint16", |
| "shape": [ |
| 400, |
| 640 |
| ], |
| "unit": "mm", |
| "storage": "episode-based", |
| "description": "Raw 16-bit depth preserved per episode" |
| } |
| } |
