Datasets:
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "franka_fr3_osc", | |
| "total_episodes": 8, | |
| "total_frames": 1404, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:8" | |
| }, | |
| "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": { | |
| "observation.images.third_person_0": { | |
| "dtype": "video", | |
| "shape": [ | |
| 180, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 180, | |
| "video.width": 320, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.third_person_1": { | |
| "dtype": "video", | |
| "shape": [ | |
| 180, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 180, | |
| "video.width": 320, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 180, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 180, | |
| "video.width": 320, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 23 | |
| ], | |
| "names": [ | |
| "joint_pos.0", | |
| "joint_pos.1", | |
| "joint_pos.2", | |
| "joint_pos.3", | |
| "joint_pos.4", | |
| "joint_pos.5", | |
| "joint_pos.6", | |
| "joint_pos.7", | |
| "joint_pos.8", | |
| "end_effector_pose.0", | |
| "end_effector_pose.1", | |
| "end_effector_pose.2", | |
| "end_effector_pose.3", | |
| "end_effector_pose.4", | |
| "end_effector_pose.5", | |
| "end_effector_pose.6", | |
| "prev_actions.0", | |
| "prev_actions.1", | |
| "prev_actions.2", | |
| "prev_actions.3", | |
| "prev_actions.4", | |
| "prev_actions.5", | |
| "prev_actions.6" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "osc_action.0", | |
| "osc_action.1", | |
| "osc_action.2", | |
| "osc_action.3", | |
| "osc_action.4", | |
| "osc_action.5", | |
| "osc_action.6" | |
| ] | |
| }, | |
| "visual.profile_id": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "profile_id" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |