Datasets:
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "franka", | |
| "total_episodes": 19, | |
| "total_frames": 11139, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:19" | |
| }, | |
| "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": { | |
| "action": { | |
| "dtype": "float32", | |
| "names": [ | |
| "delta_ee_pose.x", | |
| "delta_ee_pose.y", | |
| "delta_ee_pose.z", | |
| "delta_ee_pose.rx", | |
| "delta_ee_pose.ry", | |
| "delta_ee_pose.rz", | |
| "gripper_cmd_bin" | |
| ], | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "names": [ | |
| "joint_1.pos", | |
| "joint_2.pos", | |
| "joint_3.pos", | |
| "joint_4.pos", | |
| "joint_5.pos", | |
| "joint_6.pos", | |
| "joint_7.pos", | |
| "gripper_state_norm", | |
| "gripper_cmd_bin", | |
| "ee_pose.x", | |
| "ee_pose.y", | |
| "ee_pose.z", | |
| "ee_pose.rx", | |
| "ee_pose.ry", | |
| "ee_pose.rz" | |
| ], | |
| "shape": [ | |
| 15 | |
| ] | |
| }, | |
| "observation.images.camera_1": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.camera_2": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "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 | |
| } | |
| } | |
| } |