|
|
{ |
|
|
"codebase_version": "v2.1", |
|
|
"robot_type": "so100_follower", |
|
|
"total_episodes": 200, |
|
|
"total_frames": 58227, |
|
|
"total_tasks": 1, |
|
|
"total_videos": 800, |
|
|
"total_chunks": 1, |
|
|
"chunks_size": 1000, |
|
|
"fps": 30, |
|
|
"splits": { |
|
|
"train": "0:10,11:20,21:30,31:40,41:50,51:60,61:70,71:80,81:90,91:100,101:110,111:120,121:130,131:140,141:150,151:160,161:170,171:180,181:190,191:200", |
|
|
"val": [ |
|
|
10, |
|
|
20, |
|
|
30, |
|
|
40, |
|
|
50, |
|
|
60, |
|
|
70, |
|
|
80, |
|
|
90, |
|
|
100, |
|
|
110, |
|
|
120, |
|
|
130, |
|
|
140, |
|
|
150, |
|
|
160, |
|
|
170, |
|
|
180, |
|
|
190 |
|
|
], |
|
|
"drop": [ |
|
|
38, |
|
|
39, |
|
|
40, |
|
|
41, |
|
|
42, |
|
|
43, |
|
|
44, |
|
|
45, |
|
|
46, |
|
|
47, |
|
|
48, |
|
|
49, |
|
|
50 |
|
|
] |
|
|
}, |
|
|
"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": [ |
|
|
"shoulder_pan.pos", |
|
|
"shoulder_lift.pos", |
|
|
"elbow_flex.pos", |
|
|
"wrist_flex.pos", |
|
|
"wrist_roll.pos", |
|
|
"gripper.pos" |
|
|
] |
|
|
}, |
|
|
"observation.state": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
6 |
|
|
], |
|
|
"names": [ |
|
|
"shoulder_pan.pos", |
|
|
"shoulder_lift.pos", |
|
|
"elbow_flex.pos", |
|
|
"wrist_flex.pos", |
|
|
"wrist_roll.pos", |
|
|
"gripper.pos" |
|
|
] |
|
|
}, |
|
|
"observation.images.base": { |
|
|
"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 |
|
|
} |
|
|
}, |
|
|
"observation.images.base_right": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
480, |
|
|
1280, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"channels" |
|
|
], |
|
|
"info": { |
|
|
"video.height": 480, |
|
|
"video.width": 1280, |
|
|
"video.codec": "av1", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"video.fps": 30, |
|
|
"video.channels": 3, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.images.arm": { |
|
|
"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 |
|
|
} |
|
|
}, |
|
|
"observation.images.gripper": { |
|
|
"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 |
|
|
} |
|
|
} |
|
|
} |
