Datasets:
| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "agilex", | |
| "total_episodes": 50, | |
| "total_frames": 12500, | |
| "total_tasks": 1, | |
| "total_videos": 150, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 25, | |
| "splits": { | |
| "train": "0:50" | |
| }, | |
| "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": [ | |
| 14 | |
| ], | |
| "names": [ | |
| "joint0", | |
| "joint1", | |
| "joint2", | |
| "joint3", | |
| "joint4", | |
| "joint5", | |
| "joint6", | |
| "joint7", | |
| "joint8", | |
| "joint9", | |
| "joint10", | |
| "joint11", | |
| "joint12", | |
| "joint13" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": [ | |
| "joint0", | |
| "joint1", | |
| "joint2", | |
| "joint3", | |
| "joint4", | |
| "joint5", | |
| "joint6", | |
| "joint7", | |
| "joint8", | |
| "joint9", | |
| "joint10", | |
| "joint11", | |
| "joint12", | |
| "joint13" | |
| ] | |
| }, | |
| "observation.velocity": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": [ | |
| "vel_joint0", | |
| "vel_joint1", | |
| "vel_joint2", | |
| "vel_joint3", | |
| "vel_joint4", | |
| "vel_joint5", | |
| "vel_joint6", | |
| "vel_joint7", | |
| "vel_joint8", | |
| "vel_joint9", | |
| "vel_joint10", | |
| "vel_joint11", | |
| "vel_joint12", | |
| "vel_joint13" | |
| ] | |
| }, | |
| "observation.effort": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": [ | |
| "effort_joint0", | |
| "effort_joint1", | |
| "effort_joint2", | |
| "effort_joint3", | |
| "effort_joint4", | |
| "effort_joint5", | |
| "effort_joint6", | |
| "effort_joint7", | |
| "effort_joint8", | |
| "effort_joint9", | |
| "effort_joint10", | |
| "effort_joint11", | |
| "effort_joint12", | |
| "effort_joint13" | |
| ] | |
| }, | |
| "observation.images.cam_high": { | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "dtype": "video", | |
| "info": { | |
| "video.fps": 25.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_left_wrist": { | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "dtype": "video", | |
| "info": { | |
| "video.fps": 25.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.cam_right_wrist": { | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "dtype": "video", | |
| "info": { | |
| "video.fps": 25.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "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 | |
| } | |
| } | |
| } |