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ffw_sh5_miini_fingertip/meta/info.json

@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "ffw_sh5_rev1",
+    "total_episodes": 7,
+    "total_frames": 1253,
+    "total_tasks": 1,
+    "total_videos": 21,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:7"
+    },
+    "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",
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "finger_l_joint1",
+                "finger_l_joint2",
+                "finger_l_joint3",
+                "finger_l_joint4",
+                "finger_l_joint5",
+                "finger_l_joint6",
+                "finger_l_joint7",
+                "finger_l_joint8",
+                "finger_l_joint9",
+                "finger_l_joint10",
+                "finger_l_joint11",
+                "finger_l_joint12",
+                "finger_l_joint13",
+                "finger_l_joint14",
+                "finger_l_joint15",
+                "finger_l_joint16",
+                "finger_l_joint17",
+                "finger_l_joint18",
+                "finger_l_joint19",
+                "finger_l_joint20",
+                "finger_r_joint1",
+                "finger_r_joint2",
+                "finger_r_joint3",
+                "finger_r_joint4",
+                "finger_r_joint5",
+                "finger_r_joint6",
+                "finger_r_joint7",
+                "finger_r_joint8",
+                "finger_r_joint9",
+                "finger_r_joint10",
+                "finger_r_joint11",
+                "finger_r_joint12",
+                "finger_r_joint13",
+                "finger_r_joint14",
+                "finger_r_joint15",
+                "finger_r_joint16",
+                "finger_r_joint17",
+                "finger_r_joint18",
+                "finger_r_joint19",
+                "finger_r_joint20",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint"
+            ],
+            "shape": [
+                57
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "finger_l_joint1",
+                "finger_l_joint2",
+                "finger_l_joint3",
+                "finger_l_joint4",
+                "finger_l_joint5",
+                "finger_l_joint6",
+                "finger_l_joint7",
+                "finger_l_joint8",
+                "finger_l_joint9",
+                "finger_l_joint10",
+                "finger_l_joint11",
+                "finger_l_joint12",
+                "finger_l_joint13",
+                "finger_l_joint14",
+                "finger_l_joint15",
+                "finger_l_joint16",
+                "finger_l_joint17",
+                "finger_l_joint18",
+                "finger_l_joint19",
+                "finger_l_joint20",
+                "finger_r_joint1",
+                "finger_r_joint2",
+                "finger_r_joint3",
+                "finger_r_joint4",
+                "finger_r_joint5",
+                "finger_r_joint6",
+                "finger_r_joint7",
+                "finger_r_joint8",
+                "finger_r_joint9",
+                "finger_r_joint10",
+                "finger_r_joint11",
+                "finger_r_joint12",
+                "finger_r_joint13",
+                "finger_r_joint14",
+                "finger_r_joint15",
+                "finger_r_joint16",
+                "finger_r_joint17",
+                "finger_r_joint18",
+                "finger_r_joint19",
+                "finger_r_joint20",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint"
+            ],
+            "shape": [
+                57
+            ]
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "names": [
+                "finger_l_sensor1.present_pressure_1",
+                "finger_l_sensor1.present_pressure_2",
+                "finger_l_sensor1.present_pressure_3",
+                "finger_l_sensor1.present_pressure_4",
+                "finger_l_sensor1.present_pressure_5",
+                "finger_l_sensor1.present_pressure_6",
+                "finger_l_sensor1.present_pressure_7",
+                "finger_l_sensor1.present_pressure_8",
+                "finger_l_sensor1.present_pressure_9",
+                "finger_l_sensor2.present_pressure_1",
+                "finger_l_sensor2.present_pressure_2",
+                "finger_l_sensor2.present_pressure_3",
+                "finger_l_sensor2.present_pressure_4",
+                "finger_l_sensor2.present_pressure_5",
+                "finger_l_sensor2.present_pressure_6",
+                "finger_l_sensor2.present_pressure_7",
+                "finger_l_sensor2.present_pressure_8",
+                "finger_l_sensor2.present_pressure_9",
+                "finger_l_sensor3.present_pressure_1",
+                "finger_l_sensor3.present_pressure_2",
+                "finger_l_sensor3.present_pressure_3",
+                "finger_l_sensor3.present_pressure_4",
+                "finger_l_sensor3.present_pressure_5",
+                "finger_l_sensor3.present_pressure_6",
+                "finger_l_sensor3.present_pressure_7",
+                "finger_l_sensor3.present_pressure_8",
+                "finger_l_sensor3.present_pressure_9",
+                "finger_l_sensor4.present_pressure_1",
+                "finger_l_sensor4.present_pressure_2",
+                "finger_l_sensor4.present_pressure_3",
+                "finger_l_sensor4.present_pressure_4",
+                "finger_l_sensor4.present_pressure_5",
+                "finger_l_sensor4.present_pressure_6",
+                "finger_l_sensor4.present_pressure_7",
+                "finger_l_sensor4.present_pressure_8",
+                "finger_l_sensor4.present_pressure_9",
+                "finger_l_sensor5.present_pressure_1",
+                "finger_l_sensor5.present_pressure_2",
+                "finger_l_sensor5.present_pressure_3",
+                "finger_l_sensor5.present_pressure_4",
+                "finger_l_sensor5.present_pressure_5",
+                "finger_l_sensor5.present_pressure_6",
+                "finger_l_sensor5.present_pressure_7",
+                "finger_l_sensor5.present_pressure_8",
+                "finger_l_sensor5.present_pressure_9",
+                "finger_r_sensor1.present_pressure_1",
+                "finger_r_sensor1.present_pressure_2",
+                "finger_r_sensor1.present_pressure_3",
+                "finger_r_sensor1.present_pressure_4",
+                "finger_r_sensor1.present_pressure_5",
+                "finger_r_sensor1.present_pressure_6",
+                "finger_r_sensor1.present_pressure_7",
+                "finger_r_sensor1.present_pressure_8",
+                "finger_r_sensor1.present_pressure_9",
+                "finger_r_sensor2.present_pressure_1",
+                "finger_r_sensor2.present_pressure_2",
+                "finger_r_sensor2.present_pressure_3",
+                "finger_r_sensor2.present_pressure_4",
+                "finger_r_sensor2.present_pressure_5",
+                "finger_r_sensor2.present_pressure_6",
+                "finger_r_sensor2.present_pressure_7",
+                "finger_r_sensor2.present_pressure_8",
+                "finger_r_sensor2.present_pressure_9",
+                "finger_r_sensor3.present_pressure_1",
+                "finger_r_sensor3.present_pressure_2",
+                "finger_r_sensor3.present_pressure_3",
+                "finger_r_sensor3.present_pressure_4",
+                "finger_r_sensor3.present_pressure_5",
+                "finger_r_sensor3.present_pressure_6",
+                "finger_r_sensor3.present_pressure_7",
+                "finger_r_sensor3.present_pressure_8",
+                "finger_r_sensor3.present_pressure_9",
+                "finger_r_sensor4.present_pressure_1",
+                "finger_r_sensor4.present_pressure_2",
+                "finger_r_sensor4.present_pressure_3",
+                "finger_r_sensor4.present_pressure_4",
+                "finger_r_sensor4.present_pressure_5",
+                "finger_r_sensor4.present_pressure_6",
+                "finger_r_sensor4.present_pressure_7",
+                "finger_r_sensor4.present_pressure_8",
+                "finger_r_sensor4.present_pressure_9",
+                "finger_r_sensor5.present_pressure_1",
+                "finger_r_sensor5.present_pressure_2",
+                "finger_r_sensor5.present_pressure_3",
+                "finger_r_sensor5.present_pressure_4",
+                "finger_r_sensor5.present_pressure_5",
+                "finger_r_sensor5.present_pressure_6",
+                "finger_r_sensor5.present_pressure_7",
+                "finger_r_sensor5.present_pressure_8",
+                "finger_r_sensor5.present_pressure_9"
+            ],
+            "shape": [
+                90
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meta/info.json

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+{
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+    "robot_type": "ffw_sh5_rev1",
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+    "total_tasks": 1,
+    "total_videos": 12,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
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+    "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",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "test1"}

videos/chunk-000/observation.images.cam_head/episode_000000.mp4

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+size 2209000

videos/chunk-000/observation.images.cam_head/episode_000001.mp4

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videos/chunk-000/observation.images.cam_head/episode_000002.mp4

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