File size: 1,231 Bytes
9797d2b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 | {
"source_task_dir": "/mnt/18T/hlq/forcebenchmark/openpi-force/datasets/forcebenchmark_raw/forcebenchmarkpandapickcube_v2",
"source_files": {
"hdf5": "trajectory_rgb.h5",
"metadata": "trajectory_rgb.json"
},
"output_repo_id": "forcebenchmark/forcebenchmarkpandapickcube_v2",
"fps": 20.0,
"prompt": "Grasp the red cube near the goal-side wall inside the enclosure, lift it clear of the walls, place it at the green goal outside, and hold still.",
"core_field_mapping": {
"image": "obs/sensor_data/base_camera/rgb",
"state": "concat(obs/agent/gripper_state, obs/agent/tcp_pose)",
"actions": "actions (unaltered pd_ee_delta_pose)"
},
"include_source_signals": true,
"converted_episodes": 1000,
"source_env_info": {
"env_id": "ForcebenchmarkPandaPickCube-v2",
"env_kwargs": {
"control_mode": "pd_ee_delta_pose",
"obs_mode": "rgb"
}
},
"source_dataset_metadata": {
"generated_by": "convert_to_h5.py",
"timestamp": "2026-07-24T14:57:59",
"num_episodes": 1000,
"format_version": "1.0",
"has_phase_id": true,
"phase_timing": "pre_action",
"phase_labels": {
"0": "free_space",
"1": "pre_contact",
"2": "contact"
}
}
}
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