| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "so101_follower", | |
| "total_episodes": 10, | |
| "total_frames": 4241, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:10" | |
| }, | |
| "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", | |
| "names": [ | |
| "shoulder_pan.pos", | |
| "shoulder_lift.pos", | |
| "elbow_flex.pos", | |
| "wrist_flex.pos", | |
| "wrist_roll.pos", | |
| "gripper.pos" | |
| ], | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "names": [ | |
| "shoulder_pan.pos", | |
| "shoulder_lift.pos", | |
| "elbow_flex.pos", | |
| "wrist_flex.pos", | |
| "wrist_roll.pos", | |
| "gripper.pos" | |
| ], | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.handeye": { | |
| "dtype": "video", | |
| "shape": [ | |
| 360, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 360, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.fixed": { | |
| "dtype": "video", | |
| "shape": [ | |
| 360, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 360, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.tactile": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 207 | |
| ], | |
| "names": [ | |
| "tactile.force_000.x", | |
| "tactile.force_000.y", | |
| "tactile.force_000.z", | |
| "tactile.force_001.x", | |
| "tactile.force_001.y", | |
| "tactile.force_001.z", | |
| "tactile.force_002.x", | |
| "tactile.force_002.y", | |
| "tactile.force_002.z", | |
| "tactile.force_003.x", | |
| "tactile.force_003.y", | |
| "tactile.force_003.z", | |
| "tactile.force_004.x", | |
| "tactile.force_004.y", | |
| "tactile.force_004.z", | |
| "tactile.force_005.x", | |
| "tactile.force_005.y", | |
| "tactile.force_005.z", | |
| "tactile.force_006.x", | |
| "tactile.force_006.y", | |
| "tactile.force_006.z", | |
| "tactile.force_007.x", | |
| "tactile.force_007.y", | |
| "tactile.force_007.z", | |
| "tactile.force_008.x", | |
| "tactile.force_008.y", | |
| "tactile.force_008.z", | |
| "tactile.force_009.x", | |
| "tactile.force_009.y", | |
| "tactile.force_009.z", | |
| "tactile.force_010.x", | |
| "tactile.force_010.y", | |
| "tactile.force_010.z", | |
| "tactile.force_011.x", | |
| "tactile.force_011.y", | |
| "tactile.force_011.z", | |
| "tactile.force_012.x", | |
| "tactile.force_012.y", | |
| "tactile.force_012.z", | |
| "tactile.force_013.x", | |
| "tactile.force_013.y", | |
| "tactile.force_013.z", | |
| "tactile.force_014.x", | |
| "tactile.force_014.y", | |
| "tactile.force_014.z", | |
| "tactile.force_015.x", | |
| "tactile.force_015.y", | |
| "tactile.force_015.z", | |
| "tactile.force_016.x", | |
| "tactile.force_016.y", | |
| "tactile.force_016.z", | |
| "tactile.force_017.x", | |
| "tactile.force_017.y", | |
| "tactile.force_017.z", | |
| "tactile.force_018.x", | |
| "tactile.force_018.y", | |
| "tactile.force_018.z", | |
| "tactile.force_019.x", | |
| "tactile.force_019.y", | |
| "tactile.force_019.z", | |
| "tactile.force_020.x", | |
| "tactile.force_020.y", | |
| "tactile.force_020.z", | |
| "tactile.force_021.x", | |
| "tactile.force_021.y", | |
| "tactile.force_021.z", | |
| "tactile.force_022.x", | |
| "tactile.force_022.y", | |
| "tactile.force_022.z", | |
| "tactile.force_023.x", | |
| "tactile.force_023.y", | |
| "tactile.force_023.z", | |
| "tactile.force_024.x", | |
| "tactile.force_024.y", | |
| "tactile.force_024.z", | |
| "tactile.force_025.x", | |
| "tactile.force_025.y", | |
| "tactile.force_025.z", | |
| "tactile.force_026.x", | |
| "tactile.force_026.y", | |
| "tactile.force_026.z", | |
| "tactile.force_027.x", | |
| "tactile.force_027.y", | |
| "tactile.force_027.z", | |
| "tactile.force_028.x", | |
| "tactile.force_028.y", | |
| "tactile.force_028.z", | |
| "tactile.force_029.x", | |
| "tactile.force_029.y", | |
| "tactile.force_029.z", | |
| "tactile.force_030.x", | |
| "tactile.force_030.y", | |
| "tactile.force_030.z", | |
| "tactile.force_031.x", | |
| "tactile.force_031.y", | |
| "tactile.force_031.z", | |
| "tactile.force_032.x", | |
| "tactile.force_032.y", | |
| "tactile.force_032.z", | |
| "tactile.force_033.x", | |
| "tactile.force_033.y", | |
| "tactile.force_033.z", | |
| "tactile.force_034.x", | |
| "tactile.force_034.y", | |
| "tactile.force_034.z", | |
| "tactile.force_035.x", | |
| "tactile.force_035.y", | |
| "tactile.force_035.z", | |
| "tactile.force_036.x", | |
| "tactile.force_036.y", | |
| "tactile.force_036.z", | |
| "tactile.force_037.x", | |
| "tactile.force_037.y", | |
| "tactile.force_037.z", | |
| "tactile.force_038.x", | |
| "tactile.force_038.y", | |
| "tactile.force_038.z", | |
| "tactile.force_039.x", | |
| "tactile.force_039.y", | |
| "tactile.force_039.z", | |
| "tactile.force_040.x", | |
| "tactile.force_040.y", | |
| "tactile.force_040.z", | |
| "tactile.force_041.x", | |
| "tactile.force_041.y", | |
| "tactile.force_041.z", | |
| "tactile.force_042.x", | |
| "tactile.force_042.y", | |
| "tactile.force_042.z", | |
| "tactile.force_043.x", | |
| "tactile.force_043.y", | |
| "tactile.force_043.z", | |
| "tactile.force_044.x", | |
| "tactile.force_044.y", | |
| "tactile.force_044.z", | |
| "tactile.force_045.x", | |
| "tactile.force_045.y", | |
| "tactile.force_045.z", | |
| "tactile.force_046.x", | |
| "tactile.force_046.y", | |
| "tactile.force_046.z", | |
| "tactile.force_047.x", | |
| "tactile.force_047.y", | |
| "tactile.force_047.z", | |
| "tactile.force_048.x", | |
| "tactile.force_048.y", | |
| "tactile.force_048.z", | |
| "tactile.force_049.x", | |
| "tactile.force_049.y", | |
| "tactile.force_049.z", | |
| "tactile.force_050.x", | |
| "tactile.force_050.y", | |
| "tactile.force_050.z", | |
| "tactile.force_051.x", | |
| "tactile.force_051.y", | |
| "tactile.force_051.z", | |
| "tactile.force_052.x", | |
| "tactile.force_052.y", | |
| "tactile.force_052.z", | |
| "tactile.force_053.x", | |
| "tactile.force_053.y", | |
| "tactile.force_053.z", | |
| "tactile.force_054.x", | |
| "tactile.force_054.y", | |
| "tactile.force_054.z", | |
| "tactile.force_055.x", | |
| "tactile.force_055.y", | |
| "tactile.force_055.z", | |
| "tactile.force_056.x", | |
| "tactile.force_056.y", | |
| "tactile.force_056.z", | |
| "tactile.force_057.x", | |
| "tactile.force_057.y", | |
| "tactile.force_057.z", | |
| "tactile.force_058.x", | |
| "tactile.force_058.y", | |
| "tactile.force_058.z", | |
| "tactile.force_059.x", | |
| "tactile.force_059.y", | |
| "tactile.force_059.z", | |
| "tactile.force_060.x", | |
| "tactile.force_060.y", | |
| "tactile.force_060.z", | |
| "tactile.force_061.x", | |
| "tactile.force_061.y", | |
| "tactile.force_061.z", | |
| "tactile.force_062.x", | |
| "tactile.force_062.y", | |
| "tactile.force_062.z", | |
| "tactile.force_063.x", | |
| "tactile.force_063.y", | |
| "tactile.force_063.z", | |
| "tactile.force_064.x", | |
| "tactile.force_064.y", | |
| "tactile.force_064.z", | |
| "tactile.force_065.x", | |
| "tactile.force_065.y", | |
| "tactile.force_065.z", | |
| "tactile.force_066.x", | |
| "tactile.force_066.y", | |
| "tactile.force_066.z", | |
| "tactile.force_067.x", | |
| "tactile.force_067.y", | |
| "tactile.force_067.z", | |
| "tactile.resultant.x", | |
| "tactile.resultant.y", | |
| "tactile.resultant.z" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |