chamborgir/so100_pickplace_td

{
    "robot_type": "so_arm_100",
    "codebase_version": "v3.0",
    "total_episodes": 50,
    "total_frames": 15320,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ],
            "fps": 30
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ],
            "fps": 30
        },
        "subtask": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "subtask_label"
            ],
            "info": {
                "subtask_definitions": [
                    "locate_cube_and_pregrasp",
                    "execute_grasp",
                    "move_to_bin",
                    "execute_release",
                    "reset_to_home_pos"
                ],
                "is_manual_label": true,
                "numeric_mapping": {
                    "locate_cube_and_pregrasp": 0,
                    "execute_grasp": 1,
                    "move_to_bin": 2,
                    "execute_release": 3,
                    "reset_to_home_pos": 4
                },
                "note": "Statistics are computed on numeric encoding of subtasks for v3.0 compatibility"
            },
            "fps": 30
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "observation.images.up": {
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            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30,
                "video.codec": "mp4v",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30,
                "video.codec": "mp4v",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.gripper": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30,
                "video.codec": "mp4v",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        }
    },
    "task_decomposition_info": {
        "subtasks": [
            "locate_cube_and_pregrasp",
            "execute_grasp",
            "move_to_bin",
            "execute_release",
            "reset_to_home_pos"
        ],
        "num_subtasks": 5,
        "labeling_method": "manual_during_recording",
        "task_description": "pick up the red cube and place it in the bin",
        "numeric_mapping": {
            "locate_cube_and_pregrasp": 0,
            "execute_grasp": 1,
            "move_to_bin": 2,
            "execute_release": 3,
            "reset_to_home_pos": 4
        },
        "stats_note": "Subtask statistics are computed on numeric encoding for v3.0 compatibility"
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}

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