| | { |
| | "codebase_version": "v2.1", |
| | "robot_type": "so101_follower", |
| | "total_episodes": 80, |
| | "total_frames": 41748, |
| | "total_tasks": 1, |
| | "total_videos": 240, |
| | "total_chunks": 1, |
| | "chunks_size": 1000, |
| | "fps": 30, |
| | "splits": { |
| | "train": "0:80" |
| | }, |
| | "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.front": { |
| | "dtype": "video", |
| | "shape": [1080, 1920, 3], |
| | "names": ["height", "width", "channels"], |
| | "info": { |
| | "video.height": 1080, |
| | "video.width": 1920, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 30, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.images.top": { |
| | "dtype": "video", |
| | "shape": [720, 1280, 3], |
| | "names": ["height", "width", "channels"], |
| | "info": { |
| | "video.height": 720, |
| | "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.gripper": { |
| | "dtype": "video", |
| | "shape": [1080, 1920, 3], |
| | "names": ["height", "width", "channels"], |
| | "info": { |
| | "video.height": 1080, |
| | "video.width": 1920, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 30, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.emg.lower": { |
| | "dtype": "float32", |
| | "shape": [100, 8], |
| | "names": ["time", "channels"] |
| | }, |
| | "timestamp": { |
| | "dtype": "float32", |
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| | "names": null |
| | }, |
| | "frame_index": { |
| | "dtype": "int64", |
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| | "names": null |
| | }, |
| | "episode_index": { |
| | "dtype": "int64", |
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| | "names": null |
| | }, |
| | "index": { |
| | "dtype": "int64", |
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| | "names": null |
| | }, |
| | "task_index": { |
| | "dtype": "int64", |
| | "shape": [1], |
| | "names": null |
| | } |
| | } |
| | } |
| |
|
