Datasets:
{ | |
"codebase_version": "v2.1", | |
"robot_type": null, | |
"total_episodes": 28, | |
"total_frames": 22015, | |
"total_tasks": 1, | |
"total_videos": 84, | |
"total_chunks": 1, | |
"chunks_size": 1000, | |
"fps": 20, | |
"splits": { | |
"train": "0:28" | |
}, | |
"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": [ | |
25 | |
], | |
"names": [ | |
"joint_0", | |
"joint_1", | |
"joint_2", | |
"joint_3", | |
"joint_4", | |
"joint_5", | |
"joint_6", | |
"joint_7", | |
"joint_8", | |
"joint_9", | |
"joint_10", | |
"joint_11", | |
"joint_12", | |
"joint_13", | |
"joint_14", | |
"joint_15", | |
"rot_1", | |
"rot_2", | |
"rot_3", | |
"rot_4", | |
"rot_5", | |
"rot_6", | |
"trans_x", | |
"trans_y", | |
"trans_z" | |
] | |
}, | |
"observation.state": { | |
"dtype": "float32", | |
"shape": [ | |
25 | |
], | |
"names": [ | |
"joint_0", | |
"joint_1", | |
"joint_2", | |
"joint_3", | |
"joint_4", | |
"joint_5", | |
"joint_6", | |
"joint_7", | |
"joint_8", | |
"joint_9", | |
"joint_10", | |
"joint_11", | |
"joint_12", | |
"joint_13", | |
"joint_14", | |
"joint_15", | |
"rot_1", | |
"rot_2", | |
"rot_3", | |
"rot_4", | |
"rot_5", | |
"rot_6", | |
"trans_x", | |
"trans_y", | |
"trans_z" | |
] | |
}, | |
"timestamp": { | |
"dtype": "float32", | |
"shape": [ | |
1 | |
], | |
"names": null | |
}, | |
"task_index": { | |
"dtype": "int64", | |
"shape": [ | |
1 | |
], | |
"names": null | |
}, | |
"observation.images.main": { | |
"dtype": "video", | |
"shape": [ | |
224, | |
224, | |
3 | |
], | |
"names": [ | |
"height", | |
"width", | |
"channels" | |
], | |
"info": { | |
"video.fps": 20, | |
"video.codec": "mp4v", | |
"video.pix_fmt": "yuv420p", | |
"video.is_depth_map": false, | |
"has_audio": false | |
} | |
}, | |
"observation.images.secondary_1": { | |
"dtype": "video", | |
"shape": [ | |
224, | |
224, | |
3 | |
], | |
"names": [ | |
"height", | |
"width", | |
"channels" | |
], | |
"info": { | |
"video.fps": 20, | |
"video.codec": "mp4v", | |
"video.pix_fmt": "yuv420p", | |
"video.is_depth_map": false, | |
"has_audio": false | |
} | |
}, | |
"frame_index": { | |
"dtype": "int64", | |
"shape": [ | |
1 | |
], | |
"names": null | |
}, | |
"episode_index": { | |
"dtype": "int64", | |
"shape": [ | |
1 | |
], | |
"names": null | |
}, | |
"index": { | |
"dtype": "int64", | |
"shape": [ | |
1 | |
], | |
"names": null | |
} | |
} | |
} |