Datasets:
| { | |
| "codebase_version": "v3.0", | |
| "fps": 30, | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 27 | |
| ], | |
| "names": [ | |
| "arm_left.joint1", | |
| "arm_left.joint2", | |
| "arm_left.joint3", | |
| "arm_left.joint4", | |
| "arm_left.joint5", | |
| "arm_left.joint6", | |
| "arm_left.joint7", | |
| "gripper_left.j_1_1", | |
| "gripper_left.j_1_2", | |
| "gripper_left.j_1_3", | |
| "gripper_left.j_1_4", | |
| "gripper_left.j_3_1", | |
| "gripper_left.j_3_2", | |
| "gripper_left.j_3_3", | |
| "gripper_left.j_3_4", | |
| "fingertip_left.f1.fx", | |
| "fingertip_left.f1.fy", | |
| "fingertip_left.f1.fz", | |
| "fingertip_left.f1.tx", | |
| "fingertip_left.f1.ty", | |
| "fingertip_left.f1.tz", | |
| "fingertip_left.f2.fx", | |
| "fingertip_left.f2.fy", | |
| "fingertip_left.f2.fz", | |
| "fingertip_left.f2.tx", | |
| "fingertip_left.f2.ty", | |
| "fingertip_left.f2.tz" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": [ | |
| "arm_left.joint1", | |
| "arm_left.joint2", | |
| "arm_left.joint3", | |
| "arm_left.joint4", | |
| "arm_left.joint5", | |
| "arm_left.joint6", | |
| "arm_left.joint7", | |
| "gripper_left" | |
| ] | |
| }, | |
| "intervention": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "intervention" | |
| ] | |
| }, | |
| "has_ft": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "has_ft" | |
| ] | |
| }, | |
| "observation.images.right_wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 240, | |
| 424 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 240, | |
| "video.width": 424, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false, | |
| "video.g": 2, | |
| "video.crf": 30, | |
| "video.preset": 12, | |
| "video.fast_decode": 0, | |
| "video.video_backend": "pyav", | |
| "video.extra_options": {}, | |
| "is_depth_map": false | |
| } | |
| }, | |
| "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 | |
| } | |
| }, | |
| "total_episodes": 12, | |
| "total_frames": 16001, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "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", | |
| "robot_type": null, | |
| "splits": { | |
| "train": "0:12" | |
| } | |
| } |