sriramsk's picture
Upload folder using huggingface_hub
666264e verified
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 50,
"total_frames": 7808,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"ee_pos_0",
"ee_pos_1",
"ee_pos_2",
"ee_ori_0",
"ee_ori_1",
"ee_rot_2",
"gripper_state_0",
"gripper_state_1"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"delta_ee_pos_0",
"delta_ee_pos_1",
"delta_ee_pos_2",
"delta_ee_rot_0",
"delta_ee_rot_1",
"delta_ee_rot_2",
"gripper_action"
]
},
"observation.images.agentview": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Agentview RGB image"
},
"observation.images.wristview": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Wristview RGB image"
},
"observation.images.agentview_depth": {
"dtype": "video",
"shape": [
128,
128,
1
],
"names": [
"height",
"width",
"channels"
],
"info": "Agentview depth image"
},
"observation.images.agentview_goal_gripper_proj": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Projection of gripper pcd at goal position onto image"
},
"observation.points.gripper_pcds": {
"dtype": "float32",
"shape": [
4,
3
],
"names": [
"N",
"channels"
],
"info": "Raw gripper point cloud at current position"
},
"next_event_idx": {
"dtype": "int32",
"shape": [
1
],
"names": [
"idx"
],
"info": "Index of next event in the dataset"
},
"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
}
}
}