smerkd's picture
Add files using upload-large-folder tool
960643f verified
Raw
History Blame Contribute Delete
11.2 kB
{
"codebase_version": "v3.0",
"robot_type": "xarm6",
"ee_frame": "tcp",
"ee_tcp_offset_m": 0.172,
"ee_tcp_offset_frame": "local +Z of link6/toolhead frame",
"ee_tcp_offset_note": "observation.state/action xyz are defined at the TCP/tool point, 0.172 m (172 mm) from link6 along local +Z",
"total_episodes": 213,
"total_frames": 43452,
"total_tasks": 5,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30.0,
"splits": {
"train": "0:213"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
10
],
"names": [
"x",
"y",
"z",
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"x",
"y",
"z",
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"gripper",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"timestamp": {
"dtype": "float64",
"shape": [
1
]
},
"frame_index": {
"dtype": "int64",
"shape": [
1
]
},
"task_index": {
"dtype": "int64",
"shape": [
1
]
},
"episode_index": {
"dtype": "int64",
"shape": [
1
]
},
"index": {
"dtype": "int64",
"shape": [
1
]
},
"next.reward": {
"dtype": "float64",
"shape": [
1
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
]
},
"observation.images.back_left": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 30.0,
"video.height": 600,
"video.width": 960,
"video.codec": "avc1",
"has_audio": false
},
"camera_metadata": {
"source_camera": "zed_back_left",
"camera_model": null,
"view": "mono",
"output_width": 960,
"output_height": 600,
"intrinsics": {
"K": [
[
363.99383544921875,
0.0,
487.5188903808594
],
[
0.0,
363.99383544921875,
292.53131103515625
],
[
0.0,
0.0,
1.0
]
],
"D": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"R": [
[
1.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0
],
[
0.0,
0.0,
1.0
]
],
"P": [
[
363.99383544921875,
0.0,
487.5188903808594,
0.0
],
[
0.0,
363.99383544921875,
292.53131103515625,
0.0
],
[
0.0,
0.0,
1.0,
0.0
]
]
}
}
},
"observation.images.front_left": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 30.0,
"video.height": 600,
"video.width": 960,
"video.codec": "avc1",
"has_audio": false
},
"camera_metadata": {
"source_camera": "zed_front_left",
"camera_model": null,
"view": "mono",
"output_width": 960,
"output_height": 600,
"intrinsics": {
"K": [
[
366.29888916015625,
0.0,
482.61993408203125
],
[
0.0,
366.29888916015625,
292.7744140625
],
[
0.0,
0.0,
1.0
]
],
"D": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"R": [
[
1.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0
],
[
0.0,
0.0,
1.0
]
],
"P": [
[
366.29888916015625,
0.0,
482.61993408203125,
0.0
],
[
0.0,
366.29888916015625,
292.7744140625,
0.0
],
[
0.0,
0.0,
1.0,
0.0
]
]
}
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 30.0,
"video.height": 600,
"video.width": 960,
"video.codec": "avc1",
"has_audio": false
},
"camera_metadata": {
"source_camera": "zed_front",
"camera_model": null,
"view": "mono",
"output_width": 960,
"output_height": 600,
"intrinsics": {
"K": [
[
360.0633239746094,
0.0,
491.9861145019531
],
[
0.0,
360.0633239746094,
302.3038330078125
],
[
0.0,
0.0,
1.0
]
],
"D": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"R": [
[
1.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0
],
[
0.0,
0.0,
1.0
]
],
"P": [
[
360.0633239746094,
0.0,
491.9861145019531,
0.0
],
[
0.0,
360.0633239746094,
302.3038330078125,
0.0
],
[
0.0,
0.0,
1.0,
0.0
]
]
}
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 30.0,
"video.height": 600,
"video.width": 960,
"video.codec": "avc1",
"has_audio": false
},
"camera_metadata": {
"source_camera": "zed_right",
"camera_model": null,
"view": "mono",
"output_width": 960,
"output_height": 600,
"intrinsics": {
"K": [
[
362.3436584472656,
0.0,
490.24139404296875
],
[
0.0,
362.3436584472656,
301.3719482421875
],
[
0.0,
0.0,
1.0
]
],
"D": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"R": [
[
1.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0
],
[
0.0,
0.0,
1.0
]
],
"P": [
[
362.3436584472656,
0.0,
490.24139404296875,
0.0
],
[
0.0,
362.3436584472656,
301.3719482421875,
0.0
],
[
0.0,
0.0,
1.0,
0.0
]
]
}
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 30.0,
"video.height": 600,
"video.width": 960,
"video.codec": "avc1",
"has_audio": false
},
"camera_metadata": {
"source_camera": "zed_top",
"camera_model": null,
"view": "mono",
"output_width": 960,
"output_height": 600,
"intrinsics": {
"K": [
[
370.5740661621094,
0.0,
494.8702087402344
],
[
0.0,
370.5740661621094,
317.9675598144531
],
[
0.0,
0.0,
1.0
]
],
"D": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"R": [
[
1.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0
],
[
0.0,
0.0,
1.0
]
],
"P": [
[
370.5740661621094,
0.0,
494.8702087402344,
0.0
],
[
0.0,
370.5740661621094,
317.9675598144531,
0.0
],
[
0.0,
0.0,
1.0,
0.0
]
]
}
}
}
}
}