| { | |
| "codebase_version": "v3.0", | |
| "fps": 10, | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
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| ], | |
| "names": [ | |
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| "shoulder_lift", | |
| "elbow_flex", | |
| "wrist_flex", | |
| "wrist_roll", | |
| "gripper" | |
| ] | |
| }, | |
| "action": { | |
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| ], | |
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| "shoulder_lift", | |
| "elbow_flex", | |
| "wrist_flex", | |
| "wrist_roll", | |
| "gripper" | |
| ] | |
| }, | |
| "observation.images.top": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 480, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
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| "video.width": 480, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false, | |
| "video.g": 2, | |
| "video.crf": 30, | |
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| "video.fast_decode": 0, | |
| "video.video_backend": "pyav", | |
| "video.extra_options": {}, | |
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| } | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "video", | |
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| 480, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
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| "video.width": 480, | |
| "video.codec": "h264", | |
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| "frame_index": { | |
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| }, | |
| "episode_index": { | |
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| "names": null | |
| }, | |
| "index": { | |
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| "task_index": { | |
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| "names": null | |
| } | |
| }, | |
| "total_episodes": 360, | |
| "total_frames": 49292, | |
| "total_tasks": 6, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "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", | |
| "robot_type": "so101", | |
| "splits": { | |
| "train": "0:360" | |
| } | |
| } |