| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "so100", | |
| "fps": 30.0, | |
| "total_episodes": 62, | |
| "total_frames": 20913, | |
| "total_tasks": 1, | |
| "total_videos": 62, | |
| "features": { | |
| "observation.images.front": { | |
| "dtype": "video", | |
| "shape": [ | |
| 512, | |
| 512, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.codec": "mp4", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false | |
| } | |
| }, | |
| "observation.images.jaw": { | |
| "dtype": "video", | |
| "shape": [ | |
| 512, | |
| 512, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.codec": "mp4", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "next.reward": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "next.success": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ] | |
| } | |
| }, | |
| "splits": { | |
| "train": "0:20913" | |
| }, | |
| "camera_keys": [ | |
| "observation.images.front", | |
| "observation.images.jaw" | |
| ], | |
| "video": true, | |
| "chunks_size": 10000, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_paths": { | |
| "observation.images.front": "videos/chunk-{episode_chunk:03d}/observation.images.front/episode_{episode_index:06d}.mp4", | |
| "observation.images.jaw": "videos/chunk-{episode_chunk:03d}/observation.images.jaw/episode_{episode_index:06d}.mp4" | |
| }, | |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", | |
| "image_dirs": { | |
| "observation.images.front": "videos/chunk-{episode_chunk:03d}/observation.images.front/episode_{episode_index:06d}/", | |
| "observation.images.jaw": "videos/chunk-{episode_chunk:03d}/observation.images.jaw/episode_{episode_index:06d}/" | |
| } | |
| } |