Datasets:

Formats:
parquet
ArXiv:
Libraries:
Datasets
Dask
License:
aractingi HF Staff commited on
Commit
6f8bb5c
·
verified ·
1 Parent(s): 3ab3e59

DataTrove upload (1 files)

Browse files
Files changed (1) hide show
  1. meta/info.json +261 -0
meta/info.json ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 1542,
5
+ "total_frames": 2852512,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:1542"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.images.cam_high": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "rgb"
28
+ ],
29
+ "info": {
30
+ "video.height": 480,
31
+ "video.width": 640,
32
+ "video.codec": "av1",
33
+ "video.pix_fmt": "yuv420p",
34
+ "video.is_depth_map": false,
35
+ "video.fps": 20,
36
+ "video.channels": 3,
37
+ "has_audio": false
38
+ }
39
+ },
40
+ "observation.images.cam_left_wrist": {
41
+ "dtype": "video",
42
+ "shape": [
43
+ 480,
44
+ 640,
45
+ 3
46
+ ],
47
+ "names": [
48
+ "height",
49
+ "width",
50
+ "rgb"
51
+ ],
52
+ "info": {
53
+ "video.height": 480,
54
+ "video.width": 640,
55
+ "video.codec": "av1",
56
+ "video.pix_fmt": "yuv420p",
57
+ "video.is_depth_map": false,
58
+ "video.fps": 20,
59
+ "video.channels": 3,
60
+ "has_audio": false
61
+ }
62
+ },
63
+ "observation.images.cam_right_wrist": {
64
+ "dtype": "video",
65
+ "shape": [
66
+ 480,
67
+ 640,
68
+ 3
69
+ ],
70
+ "names": [
71
+ "height",
72
+ "width",
73
+ "rgb"
74
+ ],
75
+ "info": {
76
+ "video.height": 480,
77
+ "video.width": 640,
78
+ "video.codec": "av1",
79
+ "video.pix_fmt": "yuv420p",
80
+ "video.is_depth_map": false,
81
+ "video.fps": 20,
82
+ "video.channels": 3,
83
+ "has_audio": false
84
+ }
85
+ },
86
+ "observation.state": {
87
+ "dtype": "float32",
88
+ "shape": [
89
+ 96
90
+ ],
91
+ "names": [
92
+ "eef_euler_0",
93
+ "eef_euler_1",
94
+ "eef_euler_2",
95
+ "eef_euler_3",
96
+ "eef_euler_4",
97
+ "eef_euler_5",
98
+ "eef_euler_6",
99
+ "eef_euler_7",
100
+ "eef_euler_8",
101
+ "eef_euler_9",
102
+ "eef_euler_10",
103
+ "eef_euler_11",
104
+ "eef_euler_12",
105
+ "eef_euler_13",
106
+ "eef_quat_0",
107
+ "eef_quat_1",
108
+ "eef_quat_2",
109
+ "eef_quat_3",
110
+ "eef_quat_4",
111
+ "eef_quat_5",
112
+ "eef_quat_6",
113
+ "eef_quat_7",
114
+ "eef_quat_8",
115
+ "eef_quat_9",
116
+ "eef_quat_10",
117
+ "eef_quat_11",
118
+ "eef_quat_12",
119
+ "eef_quat_13",
120
+ "eef_quat_14",
121
+ "eef_quat_15",
122
+ "eef6d_0",
123
+ "eef6d_1",
124
+ "eef6d_2",
125
+ "eef6d_3",
126
+ "eef6d_4",
127
+ "eef6d_5",
128
+ "eef6d_6",
129
+ "eef6d_7",
130
+ "eef6d_8",
131
+ "eef6d_9",
132
+ "eef6d_10",
133
+ "eef6d_11",
134
+ "eef6d_12",
135
+ "eef6d_13",
136
+ "eef6d_14",
137
+ "eef6d_15",
138
+ "eef6d_16",
139
+ "eef6d_17",
140
+ "eef6d_18",
141
+ "eef6d_19",
142
+ "eef_left_time",
143
+ "eef_right_time",
144
+ "qpos_0",
145
+ "qpos_1",
146
+ "qpos_2",
147
+ "qpos_3",
148
+ "qpos_4",
149
+ "qpos_5",
150
+ "qpos_6",
151
+ "qpos_7",
152
+ "qpos_8",
153
+ "qpos_9",
154
+ "qpos_10",
155
+ "qpos_11",
156
+ "qpos_12",
157
+ "qpos_13",
158
+ "qvel_0",
159
+ "qvel_1",
160
+ "qvel_2",
161
+ "qvel_3",
162
+ "qvel_4",
163
+ "qvel_5",
164
+ "qvel_6",
165
+ "qvel_7",
166
+ "qvel_8",
167
+ "qvel_9",
168
+ "qvel_10",
169
+ "qvel_11",
170
+ "qvel_12",
171
+ "qvel_13",
172
+ "effort_0",
173
+ "effort_1",
174
+ "effort_2",
175
+ "effort_3",
176
+ "effort_4",
177
+ "effort_5",
178
+ "effort_6",
179
+ "effort_7",
180
+ "effort_8",
181
+ "effort_9",
182
+ "effort_10",
183
+ "effort_11",
184
+ "effort_12",
185
+ "effort_13",
186
+ "qpos_left_time",
187
+ "qpos_right_time"
188
+ ]
189
+ },
190
+ "action": {
191
+ "dtype": "float32",
192
+ "shape": [
193
+ 14
194
+ ],
195
+ "names": {
196
+ "motors": [
197
+ "joint_action_0",
198
+ "joint_action_1",
199
+ "joint_action_2",
200
+ "joint_action_3",
201
+ "joint_action_4",
202
+ "joint_action_5",
203
+ "joint_action_6",
204
+ "joint_action_7",
205
+ "joint_action_8",
206
+ "joint_action_9",
207
+ "joint_action_10",
208
+ "joint_action_11",
209
+ "joint_action_12",
210
+ "joint_action_13"
211
+ ]
212
+ }
213
+ },
214
+ "time_stamp": {
215
+ "dtype": "float32",
216
+ "shape": [
217
+ 1
218
+ ],
219
+ "names": {
220
+ "values": [
221
+ "global_timestamp"
222
+ ]
223
+ }
224
+ },
225
+ "timestamp": {
226
+ "dtype": "float32",
227
+ "shape": [
228
+ 1
229
+ ],
230
+ "names": null
231
+ },
232
+ "frame_index": {
233
+ "dtype": "int64",
234
+ "shape": [
235
+ 1
236
+ ],
237
+ "names": null
238
+ },
239
+ "episode_index": {
240
+ "dtype": "int64",
241
+ "shape": [
242
+ 1
243
+ ],
244
+ "names": null
245
+ },
246
+ "index": {
247
+ "dtype": "int64",
248
+ "shape": [
249
+ 1
250
+ ],
251
+ "names": null
252
+ },
253
+ "task_index": {
254
+ "dtype": "int64",
255
+ "shape": [
256
+ 1
257
+ ],
258
+ "names": null
259
+ }
260
+ }
261
+ }