Datasets:
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "Panda", | |
| "total_episodes": 207, | |
| "total_frames": 30774, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 20, | |
| "splits": { | |
| "train": "0:207" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": null, | |
| "features": { | |
| "is_first": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "is_last": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "is_terminal": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "language_instruction": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.images.image_0": { | |
| "dtype": "image", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.images.image_1": { | |
| "dtype": "image", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "eef_x", | |
| "eef_y", | |
| "eef_z", | |
| "eef_roll", | |
| "eef_pitch", | |
| "eef_yaw", | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "observation.eef_state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| } | |
| }, | |
| "observation.gripper_state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "dx", | |
| "dy", | |
| "dz", | |
| "droll", | |
| "dpitch", | |
| "dyaw", | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "discount": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "reward": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| } | |
| } |