Datasets:
v1 full sweep: 60 configs (45 standard + 15 SC-only), 166 episodes, 46-dim state with force/contact/joint vel/eff, 7-dim pose action. CheatCode demos with narrowed SC translations (Path B), grasp pose noise within spec, full +/-10 deg NIC yaw range, randomized Zone 3/4 layout.
d4bf119 verified | { | |
| "codebase_version": "v3.0", | |
| "robot_type": "ur5e_aic", | |
| "total_episodes": 166, | |
| "total_frames": 74328, | |
| "total_tasks": 12, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 29.7, | |
| "video_files_size_in_mb": 99.1, | |
| "fps": 20, | |
| "splits": { | |
| "train": "0:166" | |
| }, | |
| "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", | |
| "names": [ | |
| "pose.position.x", | |
| "pose.position.y", | |
| "pose.position.z", | |
| "pose.orientation.x", | |
| "pose.orientation.y", | |
| "pose.orientation.z", | |
| "pose.orientation.w" | |
| ], | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 46 | |
| ], | |
| "names": [ | |
| "tcp_pose.position.x", | |
| "tcp_pose.position.y", | |
| "tcp_pose.position.z", | |
| "tcp_pose.orientation.x", | |
| "tcp_pose.orientation.y", | |
| "tcp_pose.orientation.z", | |
| "tcp_pose.orientation.w", | |
| "tcp_velocity.linear.x", | |
| "tcp_velocity.linear.y", | |
| "tcp_velocity.linear.z", | |
| "tcp_velocity.angular.x", | |
| "tcp_velocity.angular.y", | |
| "tcp_velocity.angular.z", | |
| "joint_positions.0", | |
| "joint_positions.1", | |
| "joint_positions.2", | |
| "joint_positions.3", | |
| "joint_positions.4", | |
| "joint_positions.5", | |
| "joint_positions.6", | |
| "joint_velocities.0", | |
| "joint_velocities.1", | |
| "joint_velocities.2", | |
| "joint_velocities.3", | |
| "joint_velocities.4", | |
| "joint_velocities.5", | |
| "joint_velocities.6", | |
| "joint_efforts.0", | |
| "joint_efforts.1", | |
| "joint_efforts.2", | |
| "joint_efforts.3", | |
| "joint_efforts.4", | |
| "joint_efforts.5", | |
| "joint_efforts.6", | |
| "wrist_wrench.force.x", | |
| "wrist_wrench.force.y", | |
| "wrist_wrench.force.z", | |
| "wrist_wrench.torque.x", | |
| "wrist_wrench.torque.y", | |
| "wrist_wrench.torque.z", | |
| "fts_tare_offset.force.x", | |
| "fts_tare_offset.force.y", | |
| "fts_tare_offset.force.z", | |
| "fts_tare_offset.torque.x", | |
| "fts_tare_offset.torque.y", | |
| "fts_tare_offset.torque.z" | |
| ] | |
| }, | |
| "observation.contact": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "off_limit_contact" | |
| ] | |
| }, | |
| "observation.images.left_camera": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 288, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 288, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.center_camera": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 288, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 288, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.right_camera": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 288, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 288, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": 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 | |
| } | |
| } | |
| } |