| { |
| "codebase_version": "v3.0", |
| "robot_type": "revo2", |
| "total_episodes": 1, |
| "total_frames": 679, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 29, |
| "splits": { |
| "train": "0:1" |
| }, |
| "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.camera": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 848 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
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| "video.width": 848, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 29, |
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| "has_audio": false |
| } |
| }, |
| "observation.state": { |
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| ], |
| "names": [ |
| "right_hand_pos_x", |
| "right_hand_pos_y", |
| "right_hand_pos_z", |
| "right_hand_rot_roll", |
| "right_hand_rot_pitch", |
| "right_hand_rot_yaw", |
| "right_index_proximal_joint", |
| "right_index_distal_joint", |
| "right_middle_proximal_joint", |
| "right_middle_distal_joint", |
| "right_pinky_proximal_joint", |
| "right_pinky_distal_joint", |
| "right_ring_proximal_joint", |
| "right_ring_distal_joint", |
| "right_thumb_metacarpal_joint", |
| "right_thumb_proximal_joint", |
| "right_thumb_distal_joint", |
| "left_hand_pos_x", |
| "left_hand_pos_y", |
| "left_hand_pos_z", |
| "left_hand_rot_roll", |
| "left_hand_rot_pitch", |
| "left_hand_rot_yaw", |
| "left_index_proximal_joint", |
| "left_index_distal_joint", |
| "left_middle_proximal_joint", |
| "left_middle_distal_joint", |
| "left_pinky_proximal_joint", |
| "left_pinky_distal_joint", |
| "left_ring_proximal_joint", |
| "left_ring_distal_joint", |
| "left_thumb_metacarpal_joint", |
| "left_thumb_proximal_joint", |
| "left_thumb_distal_joint" |
| ] |
| }, |
| "observation.camera_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 34 |
| ], |
| "names": [ |
| "right_hand_pos_x", |
| "right_hand_pos_y", |
| "right_hand_pos_z", |
| "right_hand_rot_roll", |
| "right_hand_rot_pitch", |
| "right_hand_rot_yaw", |
| "right_index_proximal_joint", |
| "right_index_distal_joint", |
| "right_middle_proximal_joint", |
| "right_middle_distal_joint", |
| "right_pinky_proximal_joint", |
| "right_pinky_distal_joint", |
| "right_ring_proximal_joint", |
| "right_ring_distal_joint", |
| "right_thumb_metacarpal_joint", |
| "right_thumb_proximal_joint", |
| "right_thumb_distal_joint", |
| "left_hand_pos_x", |
| "left_hand_pos_y", |
| "left_hand_pos_z", |
| "left_hand_rot_roll", |
| "left_hand_rot_pitch", |
| "left_hand_rot_yaw", |
| "left_index_proximal_joint", |
| "left_index_distal_joint", |
| "left_middle_proximal_joint", |
| "left_middle_distal_joint", |
| "left_pinky_proximal_joint", |
| "left_pinky_distal_joint", |
| "left_ring_proximal_joint", |
| "left_ring_distal_joint", |
| "left_thumb_metacarpal_joint", |
| "left_thumb_proximal_joint", |
| "left_thumb_distal_joint" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
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| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
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| ], |
| "names": null |
| }, |
| "index": { |
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| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
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| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
