Datasets:
{ | |
"codebase_version": "v2.0", | |
"robot_type": "so100", | |
"total_episodes": 61, | |
"total_frames": 38435, | |
"total_tasks": 1, | |
"total_videos": 122, | |
"total_chunks": 1, | |
"chunks_size": 1000, | |
"fps": 30, | |
"splits": { | |
"train": "0:61" | |
}, | |
"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.endeffector": { | |
"dtype": "video", | |
"shape": [ | |
480, | |
640, | |
3 | |
], | |
"names": [ | |
"height", | |
"width", | |
"channels" | |
], | |
"info": { | |
"video.fps": 30.0, | |
"video.height": 480, | |
"video.width": 640, | |
"video.channels": 3, | |
"video.codec": "av1", | |
"video.pix_fmt": "yuv420p", | |
"video.is_depth_map": false, | |
"has_audio": false | |
} | |
}, | |
"observation.images.workspace": { | |
"dtype": "video", | |
"shape": [ | |
480, | |
640, | |
3 | |
], | |
"names": [ | |
"height", | |
"width", | |
"channels" | |
], | |
"info": { | |
"video.fps": 30.0, | |
"video.height": 480, | |
"video.width": 640, | |
"video.channels": 3, | |
"video.codec": "av1", | |
"video.pix_fmt": "yuv420p", | |
"video.is_depth_map": false, | |
"has_audio": false | |
} | |
}, | |
"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 | |
} | |
} | |
} |