| { |
| "source_task_dir": "/mnt/18T/hlq/forcebenchmark/openpi/datasets/forcebenchmark_raw/pick_cube_v2_success_1000_phase/h5/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", |
| "wrist_image": "base_camera copy", |
| "state": "concat(obs/agent/gripper_state, obs/agent/tcp_pose)", |
| "actions": "actions (unaltered pd_ee_delta_pose)" |
| }, |
| "include_source_signals": false, |
| "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" |
| } |
| } |
| } |
|
|
