Datasets:
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "ur3", | |
| "total_episodes": 60, | |
| "total_frames": 13830, | |
| "total_tasks": 38, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:60" | |
| }, | |
| "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": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 22 | |
| ], | |
| "names": [ | |
| "ee_pos_x", | |
| "ee_pos_y", | |
| "ee_pos_z", | |
| "ee_quat_x", | |
| "ee_quat_y", | |
| "ee_quat_z", | |
| "ee_quat_w", | |
| "gripper", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "joint_7", | |
| "joint_vel_1", | |
| "joint_vel_2", | |
| "joint_vel_3", | |
| "joint_vel_4", | |
| "joint_vel_5", | |
| "joint_vel_6", | |
| "joint_vel_7" | |
| ] | |
| }, | |
| "observation.ee_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z" | |
| ] | |
| }, | |
| "observation.ee_ori": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "w" | |
| ] | |
| }, | |
| "observation.gripper_state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper" | |
| ] | |
| }, | |
| "observation.joint_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "joint_7" | |
| ] | |
| }, | |
| "observation.joint_velocity": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "joint_vel_1", | |
| "joint_vel_2", | |
| "joint_vel_3", | |
| "joint_vel_4", | |
| "joint_vel_5", | |
| "joint_vel_6", | |
| "joint_vel_7" | |
| ] | |
| }, | |
| "observation.language": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.images.agentview": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.eye_in_hand": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "delta_x", | |
| "delta_y", | |
| "delta_z", | |
| "delta_roll", | |
| "delta_pitch", | |
| "delta_yaw", | |
| "gripper" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |