Datasets:
| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "Reachy", | |
| "total_episodes": 219, | |
| "total_frames": 23644, | |
| "total_tasks": 9, | |
| "total_videos": 1107, | |
| "total_chunks": 0, | |
| "chunks_size": 1000, | |
| "fps": 20.0, | |
| "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": { | |
| "observation.images.cam_robot_0:agentview_center_rgb": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 20.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_robot_0:agentview_left_rgb": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 20.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_robot_0:agentview_right_rgb": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 20.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 20 | |
| ], | |
| "names": [ | |
| "base_0", | |
| "base_1", | |
| "base_2", | |
| "left_arm_0", | |
| "left_arm_1", | |
| "left_arm_2", | |
| "left_arm_3", | |
| "left_arm_4", | |
| "left_arm_5", | |
| "left_arm_6", | |
| "left_arm_eef_pos_0", | |
| "left_arm_eef_pos_1", | |
| "left_arm_eef_pos_2", | |
| "left_arm_eef_quat_0", | |
| "left_arm_eef_quat_1", | |
| "left_arm_eef_quat_2", | |
| "left_arm_eef_quat_3", | |
| "left_gripper_qpos_0", | |
| "left_hand_0", | |
| "right_arm_0", | |
| "right_arm_1", | |
| "right_arm_2", | |
| "right_arm_3", | |
| "right_arm_4", | |
| "right_arm_5", | |
| "right_arm_6", | |
| "right_arm_eef_pos_0", | |
| "right_arm_eef_pos_1", | |
| "right_arm_eef_pos_2", | |
| "right_arm_eef_quat_0", | |
| "right_arm_eef_quat_1", | |
| "right_arm_eef_quat_2", | |
| "right_arm_eef_quat_3", | |
| "right_gripper_qpos_0", | |
| "right_hand_0", | |
| "torso_0" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 18 | |
| ], | |
| "names": [ | |
| "base_0", | |
| "base_1", | |
| "base_2", | |
| "left_arm_eef_pos_0", | |
| "left_arm_eef_pos_1", | |
| "left_arm_eef_pos_2", | |
| "left_arm_eef_rot_0", | |
| "left_arm_eef_rot_1", | |
| "left_arm_eef_rot_2", | |
| "left_gripper_close_0", | |
| "right_arm_eef_pos_0", | |
| "right_arm_eef_pos_1", | |
| "right_arm_eef_pos_2", | |
| "right_arm_eef_rot_0", | |
| "right_arm_eef_rot_1", | |
| "right_arm_eef_rot_2", | |
| "right_gripper_close_0", | |
| "torso_0" | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "annotation.human.action.task_description": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "annotation.human.validity": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "next.reward": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ] | |
| } | |
| } | |
| } |