Datasets:
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": null, | |
| "total_episodes": 9, | |
| "total_frames": 28766, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:9" | |
| }, | |
| "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": [ | |
| 28 | |
| ], | |
| "names": [ | |
| "left_ee_x", | |
| "left_ee_y", | |
| "left_ee_z", | |
| "left_ee_qx", | |
| "left_ee_qy", | |
| "left_ee_qz", | |
| "left_ee_qw", | |
| "left_gripper_state", | |
| "left_force_x", | |
| "left_force_y", | |
| "left_force_z", | |
| "left_tau_x", | |
| "left_tau_y", | |
| "left_tau_z", | |
| "right_ee_x", | |
| "right_ee_y", | |
| "right_ee_z", | |
| "right_ee_qx", | |
| "right_ee_qy", | |
| "right_ee_qz", | |
| "right_ee_qw", | |
| "right_gripper_state", | |
| "right_force_x", | |
| "right_force_y", | |
| "right_force_z", | |
| "right_tau_x", | |
| "right_tau_y", | |
| "right_tau_z" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": [ | |
| "left_ee_vx", | |
| "left_ee_vy", | |
| "left_ee_vz", | |
| "left_ee_wx", | |
| "left_ee_wy", | |
| "left_ee_wz", | |
| "left_gripper_cmd", | |
| "right_ee_vx", | |
| "right_ee_vy", | |
| "right_ee_vz", | |
| "right_ee_wx", | |
| "right_ee_wy", | |
| "right_ee_wz", | |
| "right_gripper_cmd" | |
| ] | |
| }, | |
| "observation.images.camera_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.camera_right": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 224, | |
| "video.width": 224, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "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 | |
| } | |
| } | |
| } |