Datasets:
| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "franka_fer_xhand", | |
| "total_episodes": 100, | |
| "total_frames": 32007, | |
| "total_tasks": 1, | |
| "total_videos": 300, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:100" | |
| }, | |
| "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": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 19 | |
| ], | |
| "names": [ | |
| "arm_joint_0.pos", | |
| "arm_joint_1.pos", | |
| "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": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 54 | |
| ], | |
| "names": [ | |
| "arm_joint_0.pos", | |
| "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.tpv": { | |
| "dtype": "video", | |
| "shape": [ | |
| 240, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 240, | |
| "video.width": 320, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 240, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 240, | |
| "video.width": 320, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.overhead": { | |
| "dtype": "video", | |
| "shape": [ | |
| 240, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 240, | |
| "video.width": 320, | |
| "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 | |
| } | |
| } | |
| } |