| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "so100", | |
| "total_episodes": 1, | |
| "total_frames": 294, | |
| "total_tasks": 1, | |
| "total_videos": 1, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:1" | |
| }, | |
| "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": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "main_shoulder_pan", | |
| "main_shoulder_lift", | |
| "main_elbow_flex", | |
| "main_wrist_flex", | |
| "main_wrist_roll", | |
| "main_gripper" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "main_shoulder_pan", | |
| "main_shoulder_lift", | |
| "main_elbow_flex", | |
| "main_wrist_flex", | |
| "main_wrist_roll", | |
| "main_gripper" | |
| ] | |
| }, | |
| "observation.images.phone": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "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 | |
| } | |
| } | |
| } |