Datasets:
| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "UR10", | |
| "total_episodes": 230, | |
| "total_frames": 28843, | |
| "total_tasks": 2, | |
| "total_videos": 690, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 25, | |
| "splits": { | |
| "train": "0:230" | |
| }, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "action.pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "dx", | |
| "dy", | |
| "dz", | |
| "droll", | |
| "dpitch", | |
| "dyaw" | |
| ] | |
| }, | |
| "action.gripper": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper" | |
| ] | |
| }, | |
| "action.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "dbase", | |
| "dshoulder", | |
| "delbow", | |
| "dwrist1", | |
| "dwrist2", | |
| "dwrist3" | |
| ] | |
| }, | |
| "observation.state.pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.state.gripper": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper" | |
| ] | |
| }, | |
| "observation.state.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "base", | |
| "shoulder", | |
| "elbow", | |
| "wrist1", | |
| "wrist2", | |
| "wrist3" | |
| ] | |
| }, | |
| "observation.images.side": { | |
| "dtype": "video", | |
| "shape": [ | |
| 1096, | |
| 1336, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "manufacturer": "Basler", | |
| "model": "a2A1920-51gcBAS" | |
| } | |
| }, | |
| "observation.images.wrist_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 540, | |
| 720, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "manufacturer": "Lucid", | |
| "model": "Phoenix 1.6 MP Model (IMX273)", | |
| "exposure": 1800.0, | |
| "serial": "242200036" | |
| } | |
| }, | |
| "observation.images.wrist_right": { | |
| "dtype": "video", | |
| "shape": [ | |
| 540, | |
| 720, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "manufacturer": "Lucid", | |
| "model": "Phoenix 1.6 MP Model (IMX273)", | |
| "exposure": 1800.0, | |
| "serial": "242200039" | |
| } | |
| }, | |
| "observation.timestamps": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ], | |
| "names": [ | |
| "robot", | |
| "camera_side", | |
| "camera_wrist_left", | |
| "camera_wrist_right" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |