Datasets:
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "realman", | |
| "total_episodes": 51, | |
| "total_frames": 11934, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 24, | |
| "splits": { | |
| "train": "0:51" | |
| }, | |
| "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", | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ] | |
| }, | |
| "extra.timestamps_ns": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "collect", | |
| "robot_state", | |
| "robot_action", | |
| "vr_input", | |
| "tactile", | |
| "beaver", | |
| "camera_0" | |
| ] | |
| }, | |
| "observation.force": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "Fx", | |
| "Fy", | |
| "Fz" | |
| ] | |
| }, | |
| "observation.torque": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "Tx", | |
| "Ty", | |
| "Tz" | |
| ] | |
| }, | |
| "extra.tcp_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "qx", | |
| "qy", | |
| "qz", | |
| "qw", | |
| "x", | |
| "y", | |
| "z" | |
| ] | |
| }, | |
| "observation.images.camera_0": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 24, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.beaver.distance_mm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9, | |
| 4, | |
| 4 | |
| ], | |
| "names": [ | |
| "sensor", | |
| "row", | |
| "column" | |
| ] | |
| }, | |
| "observation.beaver.target_status": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9, | |
| 4, | |
| 4 | |
| ], | |
| "names": [ | |
| "sensor", | |
| "row", | |
| "column" | |
| ] | |
| }, | |
| "observation.beaver.present": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "sensor" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |