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data/chunk-000/file-000.parquet

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meta/episodes/chunk-000/file-000.parquet

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meta/info.json

@@ -1,20 +1,20 @@
 {
     "codebase_version": "v3.0",
     "robot_type": "PandaOmron",
-    "total_episodes": 55,
-    "total_frames": 10330,
+    "total_episodes": 53,
+    "total_frames": 9979,
     "total_tasks": 7,
     "chunks_size": 1000,
     "data_files_size_in_mb": 100,
     "video_files_size_in_mb": 200,
     "fps": 20,
     "splits": {
-        "train": "0:55"
+        "train": "0:53"
     },
     "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.robot0_agentview_center": {
+        "observation.images.robot0_agentview_left": {
             "dtype": "video",
             "shape": [
                 128,
@@ -37,7 +37,7 @@
                 "has_audio": false
             }
         },
-        "observation.images.robot0_eye_in_hand": {
+        "observation.images.robot0_agentview_right": {
             "dtype": "video",
             "shape": [
                 128,
@@ -60,70 +60,36 @@
                 "has_audio": false
             }
         },
-        "object": {
-            "dtype": "float64",
-            "shape": [
-                14
-            ],
-            "names": [
-                "object"
-            ]
-        },
-        "object-state": {
-            "dtype": "float64",
+        "observation.images.robot0_eye_in_hand": {
+            "dtype": "video",
             "shape": [
-                14
+                128,
+                128,
+                3
             ],
             "names": [
-                "object-state"
-            ]
-        },
-        "objects-joint-state": {
-            "dtype": "float64",
-            "shape": [
-                82
+                "height",
+                "width",
+                "channel"
             ],
-            "names": [
-                "objects-joint-state"
-            ]
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
         },
-        "robot0_agentview_center_bbox": {
+        "object": {
             "dtype": "float64",
             "shape": [
-                32,
-                4
-            ],
-            "names": [
-                "robot0_agentview_center_bbox"
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             ],
             "names": [
-                "robot0_agentview_center_segmentation_instance"
+                "object"
             ]
         },
         "robot0_base_pos": {
@@ -162,15 +128,6 @@
                 "robot0_base_to_eef_quat"
             ]
         },
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-                "robot0_base_to_eef_quat_site"
-            ]
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         "robot0_eef_pos": {
             "dtype": "float64",
             "shape": [
@@ -189,70 +146,31 @@
                 "robot0_eef_quat"
             ]
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-            "names": [
-                "robot0_eef_quat_site"
-            ]
-        },
-        "robot0_eye_in_hand_bbox": {
+        "robot0_gripper_qpos": {
             "dtype": "float64",
             "shape": [
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-                4
-            ],
-            "names": [
-                "robot0_eye_in_hand_bbox"
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-                "robot0_eye_in_hand_segmentation_instance"
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             "shape": [
                 2
             ],
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-                "robot0_gripper_qpos"
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             "names": [
-                "robot0_gripper_qvel"
+                "robot0_joint_pos"
             ]
         },
         "robot0_joint_pos_cos": {
@@ -302,6 +220,15 @@
                 "action"
             ]
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+                12
+            ],
+            "names": [
+                "actions_abs"
+            ]
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         "dones": {
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videos/observation.images.robot0_eye_in_hand/chunk-000/file-000.mp4

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