| | {
|
| | "codebase_version": "v2.1",
|
| | "robot_type": "so101_follower",
|
| | "total_episodes": 50,
|
| | "total_frames": 19142,
|
| | "total_tasks": 1,
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| | "total_videos": 100,
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| | "total_chunks": 1,
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| | "chunks_size": 1000,
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| | "fps": 30,
|
| | "splits": {
|
| | "train": "0:50"
|
| | },
|
| | "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",
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| | "shape": [
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| | 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": [
|
| | 480,
|
| | 640,
|
| | 3
|
| | ],
|
| | "names": [
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| | "height",
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| | "width",
|
| | "channels"
|
| | ],
|
| | "info": {
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| | "video.height": 480,
|
| | "video.width": 640,
|
| | "video.codec": "av1",
|
| | "video.pix_fmt": "yuv420p",
|
| | "video.is_depth_map": false,
|
| | "video.fps": 30,
|
| | "video.channels": 3,
|
| | "has_audio": false
|
| | }
|
| | },
|
| | "observation.images.top": {
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| | "dtype": "video",
|
| | "shape": [
|
| | 720,
|
| | 1280,
|
| | 3
|
| | ],
|
| | "names": [
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| | "height",
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| | "width",
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| | "channels"
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| | ],
|
| | "info": {
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| | "video.height": 720,
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| | "video.width": 1280,
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| | "video.codec": "av1",
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| | "video.pix_fmt": "yuv420p",
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| | "video.is_depth_map": false,
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| | "video.fps": 30,
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| | "video.channels": 3,
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| | "has_audio": false
|
| | }
|
| | },
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| | "timestamp": {
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| | "dtype": "float32",
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| | "shape": [
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| | 1
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| | ],
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| | "names": null
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| | },
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| | "frame_index": {
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| | "dtype": "int64",
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| | "shape": [
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| | 1
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| | ],
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| | "names": null
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| | },
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| | "episode_index": {
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| | "dtype": "int64",
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| | "shape": [
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| | 1
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| | ],
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| | "names": null
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| | },
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| | "index": {
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| | "dtype": "int64",
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| | "shape": [
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| | 1
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| | ],
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| | "names": null
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| | },
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| | "task_index": {
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| | "dtype": "int64",
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| | "shape": [
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| | 1
|
| | ],
|
| | "names": null
|
| | }
|
| | }
|
| | } |
