Datasets:
| { | |
| "codebase_version": "v2.0", | |
| "data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet", | |
| "robot_type": "koch", | |
| "total_episodes": 50, | |
| "total_tasks": 1, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:50" | |
| }, | |
| "keys": [ | |
| "observation.state", | |
| "action" | |
| ], | |
| "video_keys": [ | |
| "observation.images.laptop", | |
| "observation.images.phone" | |
| ], | |
| "image_keys": [], | |
| "shapes": { | |
| "observation.state": 6, | |
| "action": 6, | |
| "observation.images.laptop": { | |
| "width": 640, | |
| "height": 480, | |
| "channels": 3 | |
| }, | |
| "observation.images.phone": { | |
| "width": 640, | |
| "height": 480, | |
| "channels": 3 | |
| } | |
| }, | |
| "names": { | |
| "observation.state": [ | |
| "shoulder_pan", | |
| "shoulder_lift", | |
| "elbow_flex", | |
| "wrist_flex", | |
| "wrist_roll", | |
| "gripper" | |
| ], | |
| "action": [ | |
| "shoulder_pan", | |
| "shoulder_lift", | |
| "elbow_flex", | |
| "wrist_flex", | |
| "wrist_roll", | |
| "gripper" | |
| ] | |
| }, | |
| "videos": { | |
| "videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4", | |
| "observation.images.laptop": { | |
| "video.fps": 30.0, | |
| "video.width": 640, | |
| "video.height": 480, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| }, | |
| "observation.images.phone": { | |
| "video.fps": 30.0, | |
| "video.width": 640, | |
| "video.height": 480, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "episodes": [ | |
| { | |
| "index": 0, | |
| "task": 0, | |
| "length": 519 | |
| }, | |
| { | |
| "index": 1, | |
| "task": 0, | |
| "length": 550 | |
| }, | |
| { | |
| "index": 2, | |
| "task": 0, | |
| "length": 491 | |
| }, | |
| { | |
| "index": 3, | |
| "task": 0, | |
| "length": 574 | |
| }, | |
| { | |
| "index": 4, | |
| "task": 0, | |
| "length": 566 | |
| }, | |
| { | |
| "index": 5, | |
| "task": 0, | |
| "length": 447 | |
| }, | |
| { | |
| "index": 6, | |
| "task": 0, | |
| "length": 539 | |
| }, | |
| { | |
| "index": 7, | |
| "task": 0, | |
| "length": 524 | |
| }, | |
| { | |
| "index": 8, | |
| "task": 0, | |
| "length": 486 | |
| }, | |
| { | |
| "index": 9, | |
| "task": 0, | |
| "length": 390 | |
| }, | |
| { | |
| "index": 10, | |
| "task": 0, | |
| "length": 404 | |
| }, | |
| { | |
| "index": 11, | |
| "task": 0, | |
| "length": 390 | |
| }, | |
| { | |
| "index": 12, | |
| "task": 0, | |
| "length": 441 | |
| }, | |
| { | |
| "index": 13, | |
| "task": 0, | |
| "length": 432 | |
| }, | |
| { | |
| "index": 14, | |
| "task": 0, | |
| "length": 416 | |
| }, | |
| { | |
| "index": 15, | |
| "task": 0, | |
| "length": 390 | |
| }, | |
| { | |
| "index": 16, | |
| "task": 0, | |
| "length": 396 | |
| }, | |
| { | |
| "index": 17, | |
| "task": 0, | |
| "length": 401 | |
| }, | |
| { | |
| "index": 18, | |
| "task": 0, | |
| "length": 457 | |
| }, | |
| { | |
| "index": 19, | |
| "task": 0, | |
| "length": 363 | |
| }, | |
| { | |
| "index": 20, | |
| "task": 0, | |
| "length": 395 | |
| }, | |
| { | |
| "index": 21, | |
| "task": 0, | |
| "length": 401 | |
| }, | |
| { | |
| "index": 22, | |
| "task": 0, | |
| "length": 384 | |
| }, | |
| { | |
| "index": 23, | |
| "task": 0, | |
| "length": 472 | |
| }, | |
| { | |
| "index": 24, | |
| "task": 0, | |
| "length": 364 | |
| }, | |
| { | |
| "index": 25, | |
| "task": 0, | |
| "length": 389 | |
| }, | |
| { | |
| "index": 26, | |
| "task": 0, | |
| "length": 428 | |
| }, | |
| { | |
| "index": 27, | |
| "task": 0, | |
| "length": 483 | |
| }, | |
| { | |
| "index": 28, | |
| "task": 0, | |
| "length": 444 | |
| }, | |
| { | |
| "index": 29, | |
| "task": 0, | |
| "length": 411 | |
| }, | |
| { | |
| "index": 30, | |
| "task": 0, | |
| "length": 407 | |
| }, | |
| { | |
| "index": 31, | |
| "task": 0, | |
| "length": 432 | |
| }, | |
| { | |
| "index": 32, | |
| "task": 0, | |
| "length": 383 | |
| }, | |
| { | |
| "index": 33, | |
| "task": 0, | |
| "length": 405 | |
| }, | |
| { | |
| "index": 34, | |
| "task": 0, | |
| "length": 409 | |
| }, | |
| { | |
| "index": 35, | |
| "task": 0, | |
| "length": 329 | |
| }, | |
| { | |
| "index": 36, | |
| "task": 0, | |
| "length": 429 | |
| }, | |
| { | |
| "index": 37, | |
| "task": 0, | |
| "length": 431 | |
| }, | |
| { | |
| "index": 38, | |
| "task": 0, | |
| "length": 376 | |
| }, | |
| { | |
| "index": 39, | |
| "task": 0, | |
| "length": 376 | |
| }, | |
| { | |
| "index": 40, | |
| "task": 0, | |
| "length": 344 | |
| }, | |
| { | |
| "index": 41, | |
| "task": 0, | |
| "length": 370 | |
| }, | |
| { | |
| "index": 42, | |
| "task": 0, | |
| "length": 403 | |
| }, | |
| { | |
| "index": 43, | |
| "task": 0, | |
| "length": 377 | |
| }, | |
| { | |
| "index": 44, | |
| "task": 0, | |
| "length": 367 | |
| }, | |
| { | |
| "index": 45, | |
| "task": 0, | |
| "length": 406 | |
| }, | |
| { | |
| "index": 46, | |
| "task": 0, | |
| "length": 490 | |
| }, | |
| { | |
| "index": 47, | |
| "task": 0, | |
| "length": 403 | |
| }, | |
| { | |
| "index": 48, | |
| "task": 0, | |
| "length": 344 | |
| }, | |
| { | |
| "index": 49, | |
| "task": 0, | |
| "length": 439 | |
| } | |
| ] | |
| } |