Datasets:
| { | |
| "codebase_version": "v3.0", | |
| "fps": 30, | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "names": [ | |
| "joint_1.pos", | |
| "joint_2.pos", | |
| "joint_3.pos", | |
| "joint_4.pos", | |
| "joint_5.pos", | |
| "joint_6.pos", | |
| "gripper.pos" | |
| ], | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "names": [ | |
| "joint_1.pos", | |
| "joint_2.pos", | |
| "joint_3.pos", | |
| "joint_4.pos", | |
| "joint_5.pos", | |
| "joint_6.pos", | |
| "gripper.pos" | |
| ], | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.images.cam_agent": { | |
| "dtype": "video", | |
| "shape": [ | |
| 360, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 360, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 360, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 360, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "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 | |
| }, | |
| "language_persistent": { | |
| "dtype": "language", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "language_events": { | |
| "dtype": "language", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| }, | |
| "total_episodes": 219, | |
| "total_frames": 78748, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "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", | |
| "robot_type": "piper_follower", | |
| "splits": { | |
| "train": "0:219" | |
| }, | |
| "tools": [ | |
| { | |
| "type": "function", | |
| "function": { | |
| "name": "say", | |
| "description": "Speak a short utterance to the user via the TTS executor.", | |
| "parameters": { | |
| "type": "object", | |
| "properties": { | |
| "text": { | |
| "type": "string", | |
| "description": "The verbatim text to speak." | |
| } | |
| }, | |
| "required": [ | |
| "text" | |
| ] | |
| } | |
| } | |
| } | |
| ] | |
| } |