| { |
| "codebase_version": "v3.0", |
| "robot_type": "so100_follower", |
| "total_episodes": 9, |
| "total_frames": 7113, |
| "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", |
| "shape": [ |
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| ], |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ] |
| }, |
| "observation.state": { |
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| ], |
| "names": [ |
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| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos", |
| "ee_object_distance" |
| ] |
| }, |
| "observation.images.gripper": { |
| "dtype": "video", |
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| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
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| "video.codec": "av1", |
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| "has_audio": false |
| } |
| }, |
| "observation.poses": { |
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| ], |
| "names": [ |
| "poses.ee.m00", |
| "poses.ee.m01", |
| "poses.ee.m02", |
| "poses.ee.m03", |
| "poses.ee.m10", |
| "poses.ee.m11", |
| "poses.ee.m12", |
| "poses.ee.m13", |
| "poses.ee.m20", |
| "poses.ee.m21", |
| "poses.ee.m22", |
| "poses.ee.m23", |
| "poses.ee.m30", |
| "poses.ee.m31", |
| "poses.ee.m32", |
| "poses.ee.m33", |
| "poses.obj.m00", |
| "poses.obj.m01", |
| "poses.obj.m02", |
| "poses.obj.m03", |
| "poses.obj.m10", |
| "poses.obj.m11", |
| "poses.obj.m12", |
| "poses.obj.m13", |
| "poses.obj.m20", |
| "poses.obj.m21", |
| "poses.obj.m22", |
| "poses.obj.m23", |
| "poses.obj.m30", |
| "poses.obj.m31", |
| "poses.obj.m32", |
| "poses.obj.m33", |
| "poses.rel.m00", |
| "poses.rel.m01", |
| "poses.rel.m02", |
| "poses.rel.m03", |
| "poses.rel.m10", |
| "poses.rel.m11", |
| "poses.rel.m12", |
| "poses.rel.m13", |
| "poses.rel.m20", |
| "poses.rel.m21", |
| "poses.rel.m22", |
| "poses.rel.m23", |
| "poses.rel.m30", |
| "poses.rel.m31", |
| "poses.rel.m32", |
| "poses.rel.m33" |
| ] |
| }, |
| "observation.images.top": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
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| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
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| ], |
| "names": null |
| }, |
| "frame_index": { |
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| "names": null |
| }, |
| "episode_index": { |
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| }, |
| "task_index": { |
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| ], |
| "names": null |
| } |
| } |
| } |
