| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "so100_sim", | |
| "total_episodes": 440, | |
| "total_frames": 62420, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:440" | |
| }, | |
| "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": [ | |
| "shoulder_pan.pos", | |
| "shoulder_lift.pos", | |
| "elbow_flex.pos", | |
| "wrist_flex.pos", | |
| "wrist_roll.pos", | |
| "gripper.pos" | |
| ] | |
| }, | |
| "observation.state": { | |
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| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "shoulder_pan.pos", | |
| "shoulder_lift.pos", | |
| "elbow_flex.pos", | |
| "wrist_flex.pos", | |
| "wrist_roll.pos", | |
| "gripper.pos" | |
| ] | |
| }, | |
| "observation.images.wrist_cam": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
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| "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.overhead_cam": { | |
| "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", | |
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| 1 | |
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| "names": null | |
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| "frame_index": { | |
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| "names": null | |
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| "episode_index": { | |
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| 1 | |
| ], | |
| "names": null | |
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| "index": { | |
| "dtype": "int64", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
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| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| }, | |
| "scene": { | |
| "scene_xml": "E:/git/ai/lerobot-thesis/scenes/so101_with_wrist_cam.xml", | |
| "objects": { | |
| "duplo": { | |
| "position": { | |
| "x": 0.217, | |
| "y": 0.225, | |
| "z": 0.009491975540664574 | |
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| "quaternion": { | |
| "w": 1.0, | |
| "x": 0.0, | |
| "y": 0.0, | |
| "z": 0.0 | |
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| }, | |
| "bowl": { | |
| "position": { | |
| "x": 0.217, | |
| "y": -0.225, | |
| "z": 0.0 | |
| } | |
| } | |
| } | |
| } | |
| } |