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info.json
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{
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"codebase_version": "v2.0",
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"robot_type": "so-100",
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"total_episodes": 1,
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"total_frames": 19,
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"total_tasks": 1,
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"total_videos": 1,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 10,
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"splits": {
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"train": "0:206"
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},
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"data_path": "data/episode_{episode_index:06d}.parquet",
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| 15 |
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"video_path": "videos/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"observation.image": {
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"dtype": "video",
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"shape": [
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224,
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224,
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3
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],
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"names": [
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"height",
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"width",
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"channel"
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],
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"video_info": {
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"video.fps": 10,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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6
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],
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"names": {
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"motors": [
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"motor_0",
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"motor_1",
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"motor_2",
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"motor_3",
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"motor_4",
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"motor_5"
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]
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}
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},
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"action": {
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"dtype": "float32",
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"shape": [
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6
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],
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"names": {
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| 59 |
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"motors": [
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"motor_0",
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"motor_1",
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"motor_2",
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| 63 |
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"motor_3",
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| 64 |
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"motor_4",
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| 65 |
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"motor_5"
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]
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}
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},
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"observation.action": {
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"dtype": "float32",
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"shape": [
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7
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],
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"names": [
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"x",
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"y",
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"z",
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"rx",
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"ry",
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"rz",
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"gripper"
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]
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},
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"episode_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"frame_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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1
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],
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"names": null
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},
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"next.reward": {
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"dtype": "float32",
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"shape": [
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1
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],
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| 110 |
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"names": null
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},
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"next.done": {
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"dtype": "bool",
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"shape": [
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1
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],
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"names": null
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},
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"next.success": {
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"dtype": "bool",
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"shape": [
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1
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],
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"names": null
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},
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| 126 |
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"index": {
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| 127 |
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"task_index": {
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"dtype": "int64",
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| 135 |
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"shape": [
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1
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],
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"names": null
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}
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}
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}
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