Datasets:
ArXiv:
License:
| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "x2w", | |
| "total_episodes": 9, | |
| "total_frames": 22676, | |
| "total_tasks": 3, | |
| "total_videos": 27, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:9" | |
| }, | |
| "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.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 89 | |
| ], | |
| "field_descriptions": { | |
| "/x2w_sensor/joint_state": { | |
| "description": "长度为66，共22个关节信息，每个关节有position,velocity,effort，前22个数分别表示这22个关节的position，中间22个为velocity，最后22个为effort。注意排列不是一个数的position,velocity,effort，而是22个position，22个velocity，22个effort。", | |
| "dimensions": 66, | |
| "indices": [ | |
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| 1, | |
| 2, | |
| 3, | |
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| 7, | |
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| 26, | |
| 27, | |
| 28, | |
| 29, | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35, | |
| 36, | |
| 37, | |
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| 39, | |
| 40, | |
| 41, | |
| 42, | |
| 43, | |
| 44, | |
| 45, | |
| 46, | |
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| 48, | |
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| 50, | |
| 51, | |
| 52, | |
| 53, | |
| 54, | |
| 55, | |
| 56, | |
| 57, | |
| 58, | |
| 59, | |
| 60, | |
| 61, | |
| 62, | |
| 63, | |
| 64, | |
| 65 | |
| ] | |
| }, | |
| "/x2w_sensor/gripper_pose": { | |
| "description": "长度为14,包含左右两个末端执行器的pose，每个7个数字表示，前三个数字表示position，xyz，后四个表示四元数(quaternion)。", | |
| "dimensions": 14, | |
| "indices": [ | |
| 66, | |
| 67, | |
| 68, | |
| 69, | |
| 70, | |
| 71, | |
| 72, | |
| 73, | |
| 74, | |
| 75, | |
| 76, | |
| 77, | |
| 78, | |
| 79 | |
| ] | |
| }, | |
| "/x2w_sensor/wheel_joint_state": { | |
| "description": "长度为9，包含3个轮子关节(wheel_front_left, wheel_front_right, wheel_rear)，前3个数(0-2)分别是三个wheel的position，中间3个(3-5)分别是三个wheel的velocity，最后3个(6-8)是effort。注意排列不是一个数的position,velocity,effort，而是3个position，3个velocity，3个effort。", | |
| "dimensions": 9, | |
| "indices": [ | |
| 80, | |
| 81, | |
| 82, | |
| 83, | |
| 84, | |
| 85, | |
| 86, | |
| 87, | |
| 88 | |
| ] | |
| } | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 89 | |
| ], | |
| "field_descriptions": { | |
| "/x2w_control/joint_command": { | |
| "description": "长度为66，共22个关节的控制命令，每个关节有position,velocity,effort，前22个数分别表示这22个关节的position，中间22个为velocity，最后22个为effort。注意排列不是一个数的position,velocity,effort，而是22个position，22个velocity，22个effort。", | |
| "dimensions": 66, | |
| "indices": [ | |
| 0, | |
| 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, | |
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| 51, | |
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| 55, | |
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| 60, | |
| 61, | |
| 62, | |
| 63, | |
| 64, | |
| 65 | |
| ] | |
| }, | |
| "/x2w_control/gripper_target": { | |
| "description": "长度为14,先左后右，包含左右两个末端执行器的目标pose，每个7个数字表示，前三个数字表示position(xyz)，后四个表示四元数(quaternion)。", | |
| "dimensions": 14, | |
| "indices": [ | |
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| 68, | |
| 69, | |
| 70, | |
| 71, | |
| 72, | |
| 73, | |
| 74, | |
| 75, | |
| 76, | |
| 77, | |
| 78, | |
| 79 | |
| ] | |
| }, | |
| "/x2w_control/wheel_joint_command": { | |
| "description": "长度为9，包含3个轮子关节(wheel_front_left, wheel_front_right, wheel_rear)的控制命令，前3个数(0-2)分别是三个wheel的position，中间3个(3-5)分别是三个wheel的velocity，最后3个(6-8)是effort。注意排列不是一个数的position,velocity,effort，而是3个position，3个velocity，3个effort。", | |
| "dimensions": 9, | |
| "indices": [ | |
| 80, | |
| 81, | |
| 82, | |
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| 84, | |
| 85, | |
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| 88 | |
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| "video.width": 1280, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
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| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
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| "observation.images.x2w_camera_right_wrist_zedxonegs_rgb_raw_image_compressed": { | |
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