Datasets:
| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "franka", | |
| "total_episodes": 300, | |
| "total_frames": 23303, | |
| "total_tasks": 1, | |
| "total_videos": 0, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 15, | |
| "splits": { | |
| "train": "0:300" | |
| }, | |
| "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.state.cartesian": { | |
| "shape": [ | |
| 6 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.state.joints": { | |
| "shape": [ | |
| 7 | |
| ], | |
| "dtype": "float32" | |
| }, | |
| "observation.velocity.cartesian": { | |
| "shape": [ | |
| 3 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "vx", | |
| "vy", | |
| "vz" | |
| ] | |
| }, | |
| "observation.error.cartesian": { | |
| "shape": [ | |
| 3 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "ex", | |
| "ey", | |
| "ez" | |
| ] | |
| }, | |
| "observation.previous.action": { | |
| "shape": [ | |
| 3 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "prev_dx", | |
| "prev_dy", | |
| "prev_dz" | |
| ] | |
| }, | |
| "observation.previous.error.cartesian": { | |
| "shape": [ | |
| 3 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "prev_ex", | |
| "prev_ey", | |
| "prev_ez" | |
| ] | |
| }, | |
| "observation.state.sensors_bota_ft_sensor": { | |
| "shape": [ | |
| 6 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "fx", | |
| "fy", | |
| "fz", | |
| "mx", | |
| "my", | |
| "mz" | |
| ] | |
| }, | |
| "action": { | |
| "shape": [ | |
| 2 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "dx", | |
| "dy" | |
| ] | |
| }, | |
| "perfect_action": { | |
| "shape": [ | |
| 2 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "dx", | |
| "dy" | |
| ] | |
| }, | |
| "grasp_delta": { | |
| "shape": [ | |
| 3 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "grasp_dx", | |
| "grasp_dy", | |
| "grasp_dz" | |
| ] | |
| }, | |
| "goal_position_delta": { | |
| "shape": [ | |
| 2 | |
| ], | |
| "dtype": "float32", | |
| "names": [ | |
| "goal_dx", | |
| "goal_dy" | |
| ] | |
| }, | |
| "reward": { | |
| "shape": [ | |
| 1 | |
| ], | |
| "dtype": "float32" | |
| }, | |
| "success": { | |
| "shape": [ | |
| 1 | |
| ], | |
| "dtype": "bool" | |
| }, | |
| "is_terminal": { | |
| "shape": [ | |
| 1 | |
| ], | |
| "dtype": "bool" | |
| }, | |
| "observation.features.wrist_camera": { | |
| "shape": [ | |
| 384 | |
| ], | |
| "dtype": "float32" | |
| }, | |
| "observation.formatted": { | |
| "shape": [ | |
| 398 | |
| ], | |
| "dtype": "float32" | |
| }, | |
| "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 | |
| } | |
| } | |
| } |