File size: 1,282 Bytes
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"codebase_version": "v0.3",
"robot_type": "piper",
"fps": 30,
"video": false,
"encoding": {
"observation.images.table_cam": {
"type": "video_folder",
"path": "{episode_name}_images/observation.images.table_cam"
},
"observation.images.wrist_cam": {
"type": "video_folder",
"path": "{episode_name}_images/observation.images.wrist_cam"
},
"observation.state": {
"type": "hdf5",
"path": "observations/state"
},
"action": {
"type": "hdf5",
"path": "actions"
}
},
"shapes": {
"observation.images.table_cam": [720, 800, 3],
"observation.images.wrist_cam": [480, 640, 3],
"observation.state": [7],
"action": [7]
},
"names": {
"observation.state": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7"
],
"action": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7"
]
},
"license": "MIT",
"description": "PiPER robot teaching episodes dataset containing teleoperation demonstrations for object manipulation tasks. Dataset includes synchronized robot state, actions, and dual-camera observations captured at 30 FPS."
}
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