Datasets:
| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "unknown", | |
| "total_episodes": 147, | |
| "total_frames": 72284, | |
| "total_tasks": 1, | |
| "total_videos": 147, | |
| "total_chunks": 2, | |
| "chunks_size": 100, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:147" | |
| }, | |
| "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.camera_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.left_hand": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "wrist_x", | |
| "wrist_y", | |
| "wrist_z", | |
| "thumb_x", | |
| "thumb_y", | |
| "thumb_z", | |
| "index_x", | |
| "index_y", | |
| "index_z" | |
| ] | |
| }, | |
| "observation.right_hand": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "wrist_x", | |
| "wrist_y", | |
| "wrist_z", | |
| "index_x", | |
| "index_y", | |
| "index_z", | |
| "middle_x", | |
| "middle_y", | |
| "middle_z" | |
| ] | |
| }, | |
| "action.camera_delta": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "dx", | |
| "dy", | |
| "dz", | |
| "droll", | |
| "dpitch", | |
| "dyaw" | |
| ] | |
| }, | |
| "action.left_hand_delta": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "wrist_dx", | |
| "wrist_dy", | |
| "wrist_dz", | |
| "thumb_dx", | |
| "thumb_dy", | |
| "thumb_dz", | |
| "index_dx", | |
| "index_dy", | |
| "index_dz" | |
| ] | |
| }, | |
| "action.right_hand_delta": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "wrist_dx", | |
| "wrist_dy", | |
| "wrist_dz", | |
| "index_dx", | |
| "index_dy", | |
| "index_dz", | |
| "middle_dx", | |
| "middle_dy", | |
| "middle_dz" | |
| ] | |
| }, | |
| "language_instruction": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "timestamp": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "rgb": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "video_info": { | |
| "video.fps": 30, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| } | |
| }, | |
| "videos": { | |
| "rgb": { | |
| "video_info": { | |
| "video.fps": 30, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| } | |
| } | |
| } |