File size: 3,230 Bytes
27acc96
b56e25d
3a77111
d362d85
 
3a77111
ee49b88
3a77111
 
 
 
d362d85
3a77111
 
 
 
bb44af3
3a77111
 
bb44af3
3a77111
 
bb44af3
 
 
 
 
 
3a77111
 
bb44af3
3a77111
 
bb44af3
3a77111
5b962a8
bb44af3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5b962a8
3a77111
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
584d3d5
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
3a77111
 
 
584d3d5
3a77111
 
584d3d5
3a77111
 
 
 
 
 
27acc96
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
{
  "codebase_version": "v2.0",
  "robot_type": "unknown",
  "total_episodes": 151,
  "total_frames": 61017,
  "total_tasks": 1,
  "total_videos": 145,
  "total_chunks": 2,
  "chunks_size": 100,
  "fps": 30,
  "splits": {
    "train": "0:151"
  },
  "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.camera_pose": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "x",
        "y",
        "z",
        "roll",
        "pitch",
        "yaw"
      ]
    },
    "observation.left_hand": {
      "dtype": "float32",
      "shape": [
        9
      ],
      "names": [
        "wrist_x",
        "wrist_y",
        "wrist_z",
        "thumb_x",
        "thumb_y",
        "thumb_z",
        "index_x",
        "index_y",
        "index_z"
      ]
    },
    "observation.right_hand": {
      "dtype": "float32",
      "shape": [
        9
      ],
      "names": [
        "wrist_x",
        "wrist_y",
        "wrist_z",
        "index_x",
        "index_y",
        "index_z",
        "middle_x",
        "middle_y",
        "middle_z"
      ]
    },
    "action.camera_delta": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "dx",
        "dy",
        "dz",
        "droll",
        "dpitch",
        "dyaw"
      ]
    },
    "action.left_hand_delta": {
      "dtype": "float32",
      "shape": [
        9
      ],
      "names": [
        "wrist_dx",
        "wrist_dy",
        "wrist_dz",
        "thumb_dx",
        "thumb_dy",
        "thumb_dz",
        "index_dx",
        "index_dy",
        "index_dz"
      ]
    },
    "action.right_hand_delta": {
      "dtype": "float32",
      "shape": [
        9
      ],
      "names": [
        "wrist_dx",
        "wrist_dy",
        "wrist_dz",
        "index_dx",
        "index_dy",
        "index_dz",
        "middle_dx",
        "middle_dy",
        "middle_dz"
      ]
    },
    "language_instruction": {
      "dtype": "string",
      "shape": [
        1
      ],
      "names": null
    },
    "timestamp": {
      "dtype": "float64",
      "shape": [
        1
      ],
      "names": null
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "next.done": {
      "dtype": "bool",
      "shape": [
        1
      ],
      "names": null
    },
    "rgb": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "video_info": {
        "video.fps": 30,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    }
  },
  "videos": {
    "rgb": {
      "video_info": {
        "video.fps": 30,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    }
  }
}