Datasets:
| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "robomimic", | |
| "total_episodes": 200, | |
| "total_frames": 23207, | |
| "total_tasks": 1, | |
| "total_videos": 0, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 20, | |
| "splits": { | |
| "train": "0:200" | |
| }, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_path": null, | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "action_0", | |
| "action_1", | |
| "action_2", | |
| "action_3", | |
| "action_4", | |
| "action_5", | |
| "action_6" | |
| ] | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "done" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 23 | |
| ], | |
| "names": [ | |
| "object_0", | |
| "object_1", | |
| "object_2", | |
| "object_3", | |
| "object_4", | |
| "object_5", | |
| "object_6", | |
| "object_7", | |
| "object_8", | |
| "object_9", | |
| "object_10", | |
| "object_11", | |
| "object_12", | |
| "object_13", | |
| "robot0_eef_pos_0", | |
| "robot0_eef_pos_1", | |
| "robot0_eef_pos_2", | |
| "robot0_eef_quat_0", | |
| "robot0_eef_quat_1", | |
| "robot0_eef_quat_2", | |
| "robot0_eef_quat_3", | |
| "robot0_gripper_qpos_0", | |
| "robot0_gripper_qpos_1" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |