| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "so-100", | |
| "fps": 30, | |
| "total_episodes": 22, | |
| "total_frames": 0, | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "m1", | |
| "m2", | |
| "m3", | |
| "m4", | |
| "m5", | |
| "grp" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "m1", | |
| "m2", | |
| "m3", | |
| "m4", | |
| "m5", | |
| "grp" | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "image", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "c", | |
| "h", | |
| "w" | |
| ] | |
| }, | |
| "observation.images.side": { | |
| "dtype": "image", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "c", | |
| "h", | |
| "w" | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "t" | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "idx" | |
| ] | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "idx" | |
| ] | |
| }, | |
| "language_instruction": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "txt" | |
| ] | |
| } | |
| } | |
| } |