| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "so101_follower", | |
| "total_episodes": 1, | |
| "total_frames": 200, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 5, | |
| "splits": { | |
| "train": "0:1" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": null, | |
| "features": { | |
| "observation.images.top": { | |
| "dtype": "image", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "image", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "shoulder_pan", | |
| "shoulder_lift", | |
| "elbow_flex", | |
| "wrist_flex", | |
| "wrist_roll", | |
| "gripper" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "gripper" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |