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zero7101
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LR_so100_Dataset

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LR_so100_Dataset
File size: 2,673 Bytes 
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{
	"codebase_version": "v2.1",
	"robot_type": "so100",
	"total_episodes": 1000,
	"total_frames": 357720,
	"total_tasks": 1,
	"total_videos": 2000,
	"total_chunks": 1,
	"chunks_size": 1000,
	"fps": 30,
	"splits":
	{
		"train": "0:1000"
	},
	"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": [
				"main_shoulder_pan",
				"main_shoulder_lift",
				"main_elbow_flex",
				"main_wrist_flex",
				"main_wrist_roll",
				"main_gripper"
			]
		},
		"observation.state":
		{
			"dtype": "float32",
			"shape": [ 6 ],
			"names": [
				"main_shoulder_pan",
				"main_shoulder_lift",
				"main_elbow_flex",
				"main_wrist_flex",
				"main_wrist_roll",
				"main_gripper"
			]
		},
		"observation.images.Camera_01":
		{
			"dtype": "video",
			"shape": [ 360, 640, 3 ],
			"names": [
				"height",
				"width",
				"channels"
			],
			"info":
			{
				"video.fps": 30,
				"video.height": 360,
				"video.width": 640,
				"video.channels": 3,
				"video.codec": "av1",
				"video.pix_fmt": "yuv420p",
				"video.is_depth_map": false,
				"has_audio": false,
				"sensor_coordinates":
				{
					"x": 49.62417934027151,
					"y": -144.85082985388624,
					"z": 45.56175862750959,
					"pitch": -75.000000000000156,
					"yaw": 9.9326949025498678e-14,
					"roll": -4.0542227506281251e-15
				}
			}
		},
		"observation.images.Camera_02":
		{
			"dtype": "video",
			"shape": [ 360, 640, 3 ],
			"names": [
				"height",
				"width",
				"channels"
			],
			"info":
			{
				"video.fps": 30,
				"video.height": 360,
				"video.width": 640,
				"video.channels": 3,
				"video.codec": "av1",
				"video.pix_fmt": "yuv420p",
				"video.is_depth_map": false,
				"has_audio": false,
				"sensor_coordinates":
				{
					"x": 29.624179340271482,
					"y": -124.85082985388624,
					"z": 45.56175862750959,
					"pitch": -23.529359817504879,
					"yaw": 91.848777770996094,
					"roll": 4.1627771204996764e-14
				}
			}
		},
		"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
		}
	}
}