Datasets:
File size: 2,692 Bytes
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{
"codebase_version": "v2.1",
"robot_type": "2-YAM",
"total_episodes": 128,
"total_frames": 74537,
"total_tasks": 1,
"total_videos": 384,
"total_chunks": 1,
"chunks_size": 128,
"fps": 30,
"splits": {
"train": "0:128"
},
"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": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_gripper",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_x",
"left_y",
"left_z",
"left_alpha",
"left_beta",
"left_gamma",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_alpha",
"right_beta",
"right_gamma",
"right_gripper"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
]
},
"episode_index": {
"dtype": "int64",
"shape": [
1
]
},
"frame_index": {
"dtype": "int64",
"shape": [
1
]
},
"index": {
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"shape": [
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]
},
"next.done": {
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"shape": [
1
]
},
"task_index": {
"dtype": "int64",
"shape": [
1
]
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 30,
"video.codec": "avc1"
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 30,
"video.codec": "avc1"
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 30,
"video.codec": "avc1"
}
}
}
} |