| { |
| "robot_type": "so_arm_100", |
| "codebase_version": "v3.0", |
| "total_episodes": 50, |
| "total_frames": 15320, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:50" |
| }, |
| "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", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "main_shoulder_pan", |
| "main_shoulder_lift", |
| "main_elbow_flex", |
| "main_wrist_flex", |
| "main_wrist_roll", |
| "main_gripper" |
| ], |
| "fps": 30 |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "main_shoulder_pan", |
| "main_shoulder_lift", |
| "main_elbow_flex", |
| "main_wrist_flex", |
| "main_wrist_roll", |
| "main_gripper" |
| ], |
| "fps": 30 |
| }, |
| "subtask": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "subtask_label" |
| ], |
| "info": { |
| "subtask_definitions": [ |
| "locate_cube_and_pregrasp", |
| "execute_grasp", |
| "move_to_bin", |
| "execute_release", |
| "reset_to_home_pos" |
| ], |
| "is_manual_label": true, |
| "numeric_mapping": { |
| "locate_cube_and_pregrasp": 0, |
| "execute_grasp": 1, |
| "move_to_bin": 2, |
| "execute_release": 3, |
| "reset_to_home_pos": 4 |
| }, |
| "note": "Statistics are computed on numeric encoding of subtasks for v3.0 compatibility" |
| }, |
| "fps": 30 |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 30 |
| }, |
| "observation.images.up": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.codec": "mp4v", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.side": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.codec": "mp4v", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.gripper": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.codec": "mp4v", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| } |
| }, |
| "task_decomposition_info": { |
| "subtasks": [ |
| "locate_cube_and_pregrasp", |
| "execute_grasp", |
| "move_to_bin", |
| "execute_release", |
| "reset_to_home_pos" |
| ], |
| "num_subtasks": 5, |
| "labeling_method": "manual_during_recording", |
| "task_description": "pick up the red cube and place it in the bin", |
| "numeric_mapping": { |
| "locate_cube_and_pregrasp": 0, |
| "execute_grasp": 1, |
| "move_to_bin": 2, |
| "execute_release": 3, |
| "reset_to_home_pos": 4 |
| }, |
| "stats_note": "Subtask statistics are computed on numeric encoding for v3.0 compatibility" |
| }, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200 |
| } |
