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meta/episodes.jsonl

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meta/info.json

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+{
+    "codebase_version": "v2.0",
+    "robot_type": "koch",
+    "total_episodes": 100,
+    "total_frames": 72130,
+    "total_tasks": 1,
+    "total_videos": 200,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:100"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
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+            ],
+            "names": {
+                "motors": [
+                    "shoulder_pan",
+                    "shoulder_lift",
+                    "elbow_flex",
+                    "wrist_flex",
+                    "wrist_roll",
+                    "gripper"
+                ]
+            }
+        },
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+        "next.success": {
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+        "observation.state": {
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+            "names": {
+                "motors": [
+                    "shoulder_pan",
+                    "shoulder_lift",
+                    "elbow_flex",
+                    "wrist_flex",
+                    "wrist_roll",
+                    "gripper"
+                ]
+            }
+        },
+        "observation.effort": {
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+            "shape": [
+                6
+            ],
+            "names": {
+                "motors": [
+                    "shoulder_pan",
+                    "shoulder_lift",
+                    "elbow_flex",
+                    "wrist_flex",
+                    "wrist_roll",
+                    "gripper"
+                ]
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+        },
+        "observation.images.image_front": {
+            "dtype": "video",
+            "shape": [
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+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 30.0,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.image_top": {
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+                320,
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+            "names": [
+                "height",
+                "width",
+                "channel"
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+        }
+    }
+}

meta/stats.json

@@ -0,0 +1 @@
+{}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Pick the cube and place it in the box."}