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| { | |
| "codebase_version": "v2.1", | |
| "fps": 30.0, | |
| "video": true, | |
| "task_name": "D435---glove_sensor_AI", | |
| "features": { | |
| "observation.left_glove": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 16, | |
| 16 | |
| ] | |
| }, | |
| "observation.right_glove": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 16, | |
| 16 | |
| ] | |
| }, | |
| "observation.imu": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation.images.D435_rgb": { | |
| "dtype": "video", | |
| "shape": [ | |
| 720, | |
| 1280, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.height": 720, | |
| "video.width": 1280, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.is_depth_visualization": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.D435_depth": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 848, | |
| 1 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 848, | |
| "video.channels": 1, | |
| "video.codec": "hevc", | |
| "video.pix_fmt": "gray12le", | |
| "video.is_depth_map": true, | |
| "video.is_depth_visualization": false, | |
| "has_audio": false, | |
| "video.depth_scale": 0.001, | |
| "video.depth_encoding": "uint16_mm_to_gray12le_lossless" | |
| } | |
| } | |
| }, | |
| "cameras": { | |
| "D435_rgb": { | |
| "height": 720, | |
| "width": 1280 | |
| } | |
| }, | |
| "devices": [ | |
| { | |
| "key": "sample:d435:0", | |
| "kind": "d435", | |
| "name": "sample-d435-0", | |
| "slots": [ | |
| "D435_rgb", | |
| "D435_depth" | |
| ] | |
| }, | |
| { | |
| "key": "sample:data_ble:0", | |
| "kind": "data_ble", | |
| "name": "sample-data_ble-0", | |
| "slots": [] | |
| }, | |
| { | |
| "key": "sample:data_ble:1", | |
| "kind": "data_ble", | |
| "name": "sample-data_ble-1", | |
| "slots": [] | |
| } | |
| ], | |
| "device_names": { | |
| "D435_rgb": "sample-device", | |
| "D435_depth": "sample-device" | |
| }, | |
| "sensors": [ | |
| "left_glove", | |
| "right_glove" | |
| ], | |
| "sensor_dim": 256, | |
| "created_at": 0, | |
| "format": "lerobot_v2.1", | |
| "total_episodes": 1, | |
| "total_frames": 90, | |
| "total_tasks": 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}.{ext}", | |
| "video_extensions": { | |
| "D435_rgb": "mp4", | |
| "D435_depth": "mp4" | |
| }, | |
| "extensions": { | |
| "episodes_file": "meta/episodes/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "project_storage": "sessions/<project>/{data,meta,videos}", | |
| "stats_file": "meta/stats.json", | |
| "tasks_file": "meta/tasks.json" | |
| }, | |
| "total_chunks": 1 | |
| } | |