ankile's picture
Upload folder using huggingface_hub
131da95 verified
Raw
History Blame Contribute Delete
13.8 kB
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"cart_pos_x",
"cart_pos_y",
"cart_pos_z",
"cart_rot_x",
"cart_rot_y",
"cart_rot_z",
"gripper_position"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"vel_x",
"vel_y",
"vel_z",
"vel_roll",
"vel_pitch",
"vel_yaw",
"gripper_action"
]
},
"steps_to_go": {
"dtype": "int64",
"shape": [
1
],
"names": [
"steps_to_go"
]
},
"source": {
"dtype": "int64",
"shape": [
1
],
"names": [
"source_id"
]
},
"intervention": {
"dtype": "int64",
"shape": [
1
],
"names": [
"intervention_flag"
]
},
"success": {
"dtype": "int64",
"shape": [
1
],
"names": [
"success_flag"
]
},
"is_valid": {
"dtype": "int64",
"shape": [
1
],
"names": [
"is_valid_flag"
]
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": [
"reward"
]
},
"done": {
"dtype": "int64",
"shape": [
1
],
"names": [
"done_flag"
]
},
"policy_id": {
"dtype": "int64",
"shape": [
1
],
"names": [
"policy_id"
]
},
"round_id": {
"dtype": "int64",
"shape": [
1
],
"names": [
"round_id"
]
},
"action.cartesian_velocity": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"action.cartesian_position": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"action.joint_velocity": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"action.joint_position": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"action.gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"action.gripper_velocity": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"observation.state.cartesian_position": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.state.joint_position": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"observation.state.joint_velocity": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"observation.state.cartesian_velocity": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.state.gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"telemetry.franka.motor_torques_external": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"telemetry.franka.ee_wrench": {
"dtype": "float32",
"shape": [
6
],
"names": [
"fx",
"fy",
"fz",
"mx",
"my",
"mz"
]
},
"telemetry.franka.motor_torques_measured": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"telemetry.franka.joint_torques_computed": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 15,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 15,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.side_1": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 15,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.side_2": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 15,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"manifest_idx": {
"dtype": "int64",
"shape": [
1
],
"names": [
"manifest_idx"
]
},
"rope_x": {
"dtype": "float32",
"shape": [
1
],
"names": [
"rope_x"
]
},
"clip_left_x": {
"dtype": "float32",
"shape": [
1
],
"names": [
"clip_left_x"
]
},
"clip_left_y": {
"dtype": "float32",
"shape": [
1
],
"names": [
"clip_left_y"
]
},
"clip_left_yaw": {
"dtype": "float32",
"shape": [
1
],
"names": [
"clip_left_yaw"
]
},
"clip_left_oidx": {
"dtype": "float32",
"shape": [
1
],
"names": [
"clip_left_oidx"
]
},
"clip_right_x": {
"dtype": "float32",
"shape": [
1
],
"names": [
"clip_right_x"
]
},
"clip_right_y": {
"dtype": "float32",
"shape": [
1
],
"names": [
"clip_right_y"
]
},
"clip_right_yaw": {
"dtype": "float32",
"shape": [
1
],
"names": [
"clip_right_yaw"
]
},
"clip_right_oidx": {
"dtype": "float32",
"shape": [
1
],
"names": [
"clip_right_oidx"
]
},
"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
}
},
"total_episodes": 40,
"total_frames": 9094,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "franka",
"splits": {
"train": "0:40"
}
}