File size: 4,838 Bytes
e991773
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
{
  "codebase_version": "v3.0",
  "robot_type": "so101_follower",
  "total_episodes": 21,
  "total_frames": 28457,
  "total_tasks": 1,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 500,
  "fps": 30,
  "splits": {
    "train": "0:21"
  },
  "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": {
    "action": {
      "dtype": "float32",
      "names": [
        "robot1_shoulder_pan.pos",
        "robot1_shoulder_lift.pos",
        "robot1_elbow_flex.pos",
        "robot1_wrist_flex.pos",
        "robot1_wrist_roll.pos",
        "robot1_gripper.pos",
        "robot2_shoulder_pan.pos",
        "robot2_shoulder_lift.pos",
        "robot2_elbow_flex.pos",
        "robot2_wrist_flex.pos",
        "robot2_wrist_roll.pos",
        "robot2_gripper.pos",
        "robot3_shoulder_pan.pos",
        "robot3_shoulder_lift.pos",
        "robot3_elbow_flex.pos",
        "robot3_wrist_flex.pos",
        "robot3_wrist_roll.pos",
        "robot3_gripper.pos"
      ],
      "shape": [
        18
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "names": [
        "robot1_shoulder_pan.pos",
        "robot1_shoulder_lift.pos",
        "robot1_elbow_flex.pos",
        "robot1_wrist_flex.pos",
        "robot1_wrist_roll.pos",
        "robot1_gripper.pos",
        "robot2_shoulder_pan.pos",
        "robot2_shoulder_lift.pos",
        "robot2_elbow_flex.pos",
        "robot2_wrist_flex.pos",
        "robot2_wrist_roll.pos",
        "robot2_gripper.pos",
        "robot3_shoulder_pan.pos",
        "robot3_shoulder_lift.pos",
        "robot3_elbow_flex.pos",
        "robot3_wrist_flex.pos",
        "robot3_wrist_roll.pos",
        "robot3_gripper.pos"
      ],
      "shape": [
        18
      ]
    },
    "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
    },
    "observation.images.robot1_front": {
      "dtype": "video",
      "shape": [
        240,
        424,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 240,
        "video.width": 424,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.robot1_top": {
      "dtype": "video",
      "shape": [
        240,
        424,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 240,
        "video.width": 424,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.robot2_front": {
      "dtype": "video",
      "shape": [
        240,
        424,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 240,
        "video.width": 424,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.robot2_top": {
      "dtype": "video",
      "shape": [
        240,
        424,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 240,
        "video.width": 424,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.robot3_front": {
      "dtype": "video",
      "shape": [
        240,
        424,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 240,
        "video.width": 424,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    }
  },
  "num_rows": 28457
}