| { | |
| "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." | |
| } | |