Datasets:
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "franka", | |
| "total_episodes": 436, | |
| "total_frames": 53455, | |
| "total_tasks": 10, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 20, | |
| "splits": { | |
| "train": "0:436" | |
| }, | |
| "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": { | |
| "images.cam_front": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "rgb" | |
| ], | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "images.cam_wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "rgb" | |
| ], | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "arm_state_cart_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "x", | |
| "y", | |
| "z" | |
| ] | |
| } | |
| }, | |
| "arm_state_cart_rot": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "axis_angle1", | |
| "axis_angle2", | |
| "axis_angle3" | |
| ] | |
| } | |
| }, | |
| "arm_state_joint_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "joints": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ] | |
| } | |
| }, | |
| "gripper_state_qpos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 2 | |
| ], | |
| "names": { | |
| "finger": [ | |
| "left", | |
| "right" | |
| ] | |
| } | |
| }, | |
| "arm_cmd_cart_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "x", | |
| "y", | |
| "z" | |
| ] | |
| } | |
| }, | |
| "arm_cmd_cart_rot": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "axis_angle1", | |
| "axis_angle2", | |
| "axis_angle3" | |
| ] | |
| } | |
| }, | |
| "gripper_cmd_action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": { | |
| "scalar": [ | |
| "command" | |
| ] | |
| } | |
| }, | |
| "actions": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "components": [ | |
| "delta_x", | |
| "delta_y", | |
| "delta_z", | |
| "delta_rx", | |
| "delta_ry", | |
| "delta_rz", | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "actions_orig": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "components": [ | |
| "delta_x", | |
| "delta_y", | |
| "delta_z", | |
| "delta_rx", | |
| "delta_ry", | |
| "delta_rz", | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "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 | |
| } | |
| } | |
| } |