GuanhuaJi's picture
Add files using upload-large-folder tool
6c4a018 verified
Raw
History Blame
9.23 kB
{
"codebase_version": "v2.1",
"robot_type": "mixed",
"total_episodes": 100,
"total_frames": 9934,
"total_tasks": 4,
"total_videos": 900,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5.0,
"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": {
"observation.kuka_iiwa.joints": {
"dtype": "float32",
"shape": [
8
]
},
"observation.kuka_iiwa.ee_pose": {
"dtype": "float32",
"shape": [
7
]
},
"observation.kuka_iiwa.base_position": {
"dtype": "float32",
"shape": [
3
]
},
"observation.kuka_iiwa.base_orientation": {
"dtype": "float32",
"shape": [
1
]
},
"observation.kuka_iiwa.ee_error": {
"dtype": "float32",
"shape": [
7
]
},
"observation.images.kuka_iiwa": {
"dtype": "video",
"shape": [
480,
640,
3
],
"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.xarm7.joints": {
"dtype": "float32",
"shape": [
8
]
},
"observation.xarm7.ee_pose": {
"dtype": "float32",
"shape": [
7
]
},
"observation.xarm7.base_position": {
"dtype": "float32",
"shape": [
3
]
},
"observation.xarm7.base_orientation": {
"dtype": "float32",
"shape": [
1
]
},
"observation.xarm7.ee_error": {
"dtype": "float32",
"shape": [
7
]
},
"observation.images.xarm7": {
"dtype": "video",
"shape": [
480,
640,
3
],
"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.sawyer.joints": {
"dtype": "float32",
"shape": [
8
]
},
"observation.sawyer.ee_pose": {
"dtype": "float32",
"shape": [
7
]
},
"observation.sawyer.base_position": {
"dtype": "float32",
"shape": [
3
]
},
"observation.sawyer.base_orientation": {
"dtype": "float32",
"shape": [
1
]
},
"observation.sawyer.ee_error": {
"dtype": "float32",
"shape": [
7
]
},
"observation.images.sawyer": {
"dtype": "video",
"shape": [
480,
640,
3
],
"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.panda.joints": {
"dtype": "float32",
"shape": [
8
]
},
"observation.panda.ee_pose": {
"dtype": "float32",
"shape": [
7
]
},
"observation.panda.base_position": {
"dtype": "float32",
"shape": [
3
]
},
"observation.panda.base_orientation": {
"dtype": "float32",
"shape": [
1
]
},
"observation.panda.ee_error": {
"dtype": "float32",
"shape": [
7
]
},
"observation.images.panda": {
"dtype": "video",
"shape": [
480,
640,
3
],
"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.kinova3.joints": {
"dtype": "float32",
"shape": [
8
]
},
"observation.kinova3.ee_pose": {
"dtype": "float32",
"shape": [
7
]
},
"observation.kinova3.base_position": {
"dtype": "float32",
"shape": [
3
]
},
"observation.kinova3.base_orientation": {
"dtype": "float32",
"shape": [
1
]
},
"observation.kinova3.ee_error": {
"dtype": "float32",
"shape": [
7
]
},
"observation.images.kinova3": {
"dtype": "video",
"shape": [
480,
640,
3
],
"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.jaco.joints": {
"dtype": "float32",
"shape": [
7
]
},
"observation.jaco.ee_pose": {
"dtype": "float32",
"shape": [
7
]
},
"observation.jaco.base_position": {
"dtype": "float32",
"shape": [
3
]
},
"observation.jaco.base_orientation": {
"dtype": "float32",
"shape": [
1
]
},
"observation.jaco.ee_error": {
"dtype": "float32",
"shape": [
7
]
},
"observation.images.jaco": {
"dtype": "video",
"shape": [
480,
640,
3
],
"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.google_robot.joints": {
"dtype": "float32",
"shape": [
8
]
},
"observation.google_robot.ee_pose": {
"dtype": "float32",
"shape": [
7
]
},
"observation.google_robot.base_position": {
"dtype": "float32",
"shape": [
3
]
},
"observation.google_robot.base_orientation": {
"dtype": "float32",
"shape": [
1
]
},
"observation.google_robot.ee_error": {
"dtype": "float32",
"shape": [
7
]
},
"observation.images.google_robot": {
"dtype": "video",
"shape": [
480,
640,
3
],
"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.widowX.joints": {
"dtype": "float32",
"shape": [
7
]
},
"observation.widowX.ee_pose": {
"dtype": "float32",
"shape": [
7
]
},
"observation.widowX.base_position": {
"dtype": "float32",
"shape": [
3
]
},
"observation.widowX.base_orientation": {
"dtype": "float32",
"shape": [
1
]
},
"observation.widowX.ee_error": {
"dtype": "float32",
"shape": [
7
]
},
"observation.images.widowX": {
"dtype": "video",
"shape": [
480,
640,
3
],
"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.image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"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
}
},
"natural_language_instruction": {
"dtype": "string",
"shape": [
1
]
},
"observation.state": {
"dtype": "float32",
"shape": [
15
]
},
"observation.joints": {
"dtype": "float32",
"shape": [
7
]
},
"observation.ee_pose": {
"dtype": "float32",
"shape": [
7
]
},
"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
}
}
}