Datasets:

serandt
/

LabDex

	{
	"codebase_version": "v2.1",
	"robot_type": "franka_fer_xhand",
	"total_episodes": 236,
	"total_frames": 41594,
	"total_tasks": 1,
	"total_videos": 708,
	"total_chunks": 1,
	"chunks_size": 1000,
	"fps": 20,
	"splits": {
	"train": "0:236"
	},
	"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": {
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	],
	"names": [
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	"arm_joint_2.pos",
	"arm_joint_3.pos",
	"arm_joint_4.pos",
	"arm_joint_5.pos",
	"arm_joint_6.pos",
	"hand_joint_0.pos",
	"hand_joint_1.pos",
	"hand_joint_2.pos",
	"hand_joint_3.pos",
	"hand_joint_4.pos",
	"hand_joint_5.pos",
	"hand_joint_6.pos",
	"hand_joint_7.pos",
	"hand_joint_8.pos",
	"hand_joint_9.pos",
	"hand_joint_10.pos",
	"hand_joint_11.pos"
	]
	},
	"observation.state": {
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	],
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	"arm_joint_1.pos",
	"arm_joint_2.pos",
	"arm_joint_3.pos",
	"arm_joint_4.pos",
	"arm_joint_5.pos",
	"arm_joint_6.pos",
	"arm_joint_0.vel",
	"arm_joint_1.vel",
	"arm_joint_2.vel",
	"arm_joint_3.vel",
	"arm_joint_4.vel",
	"arm_joint_5.vel",
	"arm_joint_6.vel",
	"arm_ee_pose.00",
	"arm_ee_pose.01",
	"arm_ee_pose.02",
	"arm_ee_pose.03",
	"arm_ee_pose.04",
	"arm_ee_pose.05",
	"arm_ee_pose.06",
	"arm_ee_pose.07",
	"arm_ee_pose.08",
	"arm_ee_pose.09",
	"arm_ee_pose.10",
	"arm_ee_pose.11",
	"arm_ee_pose.12",
	"arm_ee_pose.13",
	"arm_ee_pose.14",
	"arm_ee_pose.15",
	"hand_joint_0.pos",
	"hand_joint_1.pos",
	"hand_joint_2.pos",
	"hand_joint_3.pos",
	"hand_joint_4.pos",
	"hand_joint_5.pos",
	"hand_joint_6.pos",
	"hand_joint_7.pos",
	"hand_joint_8.pos",
	"hand_joint_9.pos",
	"hand_joint_10.pos",
	"hand_joint_11.pos",
	"hand_joint_0.torque",
	"hand_joint_1.torque",
	"hand_joint_2.torque",
	"hand_joint_3.torque",
	"hand_joint_4.torque",
	"hand_joint_5.torque",
	"hand_joint_6.torque",
	"hand_joint_7.torque",
	"hand_joint_8.torque",
	"hand_joint_9.torque",
	"hand_joint_10.torque",
	"hand_joint_11.torque"
	]
	},
	"observation.images.head_view": {
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	640,
	3
	],
	"names": [
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	"width",
	"channels"
	],
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	"video.width": 640,
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	"video.pix_fmt": "yuv420p",
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	"video.fps": 20,
	"video.channels": 3,
	"has_audio": false
	}
	},
	"observation.images.front_left_view": {
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	"shape": [
	480,
	640,
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	],
	"names": [
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	"info": {
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	"video.width": 640,
	"video.codec": "av1",
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	"video.is_depth_map": false,
	"video.fps": 20,
	"video.channels": 3,
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	}
	},
	"observation.images.wrist_view": {
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	],
	"names": [
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	"info": {
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	"video.width": 640,
	"video.codec": "av1",
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	"video.is_depth_map": false,
	"video.fps": 20,
	"video.channels": 3,
	"has_audio": false
	}
	},
	"action_target_position": {
	"dtype": "float32",
	"shape": [
	87
	],
	"names": [
	"arm_target_position_0",
	"arm_target_position_1",
	"arm_target_position_2",
	"arm_target_orientation_0",
	"arm_target_orientation_1",
	"arm_target_orientation_2",
	"arm_target_orientation_3",
	"arm_target_orientation_4",
	"arm_target_orientation_5",
	"arm_target_orientation_6",
	"arm_target_orientation_7",
	"arm_target_orientation_8",
	"hand_target_position_0",
	"hand_target_position_1",
	"hand_target_position_2",
	"hand_target_position_3",
	"hand_target_position_4",
	"hand_target_position_5",
	"hand_target_position_6",
	"hand_target_position_7",
	"hand_target_position_8",
	"hand_target_position_9",
	"hand_target_position_10",
	"hand_target_position_11",
	"hand_target_position_12",
	"hand_target_position_13",
	"hand_target_position_14",
	"hand_target_position_15",
	"hand_target_position_16",
	"hand_target_position_17",
	"hand_target_position_18",
	"hand_target_position_19",
	"hand_target_position_20",
	"hand_target_position_21",
	"hand_target_position_22",
	"hand_target_position_23",
	"hand_target_position_24",
	"hand_target_position_25",
	"hand_target_position_26",
	"hand_target_position_27",
	"hand_target_position_28",
	"hand_target_position_29",
	"hand_target_position_30",
	"hand_target_position_31",
	"hand_target_position_32",
	"hand_target_position_33",
	"hand_target_position_34",
	"hand_target_position_35",
	"hand_target_position_36",
	"hand_target_position_37",
	"hand_target_position_38",
	"hand_target_position_39",
	"hand_target_position_40",
	"hand_target_position_41",
	"hand_target_position_42",
	"hand_target_position_43",
	"hand_target_position_44",
	"hand_target_position_45",
	"hand_target_position_46",
	"hand_target_position_47",
	"hand_target_position_48",
	"hand_target_position_49",
	"hand_target_position_50",
	"hand_target_position_51",
	"hand_target_position_52",
	"hand_target_position_53",
	"hand_target_position_54",
	"hand_target_position_55",
	"hand_target_position_56",
	"hand_target_position_57",
	"hand_target_position_58",
	"hand_target_position_59",
	"hand_target_position_60",
	"hand_target_position_61",
	"hand_target_position_62",
	"hand_target_position_63",
	"hand_target_position_64",
	"hand_target_position_65",
	"hand_target_position_66",
	"hand_target_position_67",
	"hand_target_position_68",
	"hand_target_position_69",
	"hand_target_position_70",
	"hand_target_position_71",
	"hand_target_position_72",
	"hand_target_position_73",
	"hand_target_position_74"
	]
	},
	"timestamp": {
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	"names": null
	},
	"frame_index": {
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	],
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	},
	"episode_index": {
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	},
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	},
	"task_index": {
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	}
	}
	}