ishika's picture
Upload folder using huggingface_hub
b653945 verified
{
"codebase_version": "v2.1",
"robot_type": "robomimic",
"total_episodes": 2235,
"total_frames": 552031,
"total_tasks": 20,
"total_videos": 2235,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1877",
"test": "1877:2235"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
24
],
"names": [
"action_0",
"action_1",
"action_2",
"action_3",
"action_4",
"action_5",
"action_6",
"action_7",
"action_8",
"action_9",
"action_10",
"action_11",
"action_12",
"action_13",
"action_14",
"action_15",
"action_16",
"action_17",
"action_18",
"action_19",
"action_20",
"action_21",
"action_22",
"action_23"
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": [
"done"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
43
],
"names": [
"robot0_right_eef_pos",
"robot0_right_eef_quat",
"robot0_right_gripper_qpos",
"robot0_left_eef_pos",
"robot0_left_eef_quat",
"robot0_left_gripper_qpos",
"robot0_base_pos",
"robot0_base_quat"
]
},
"observation.condition": {
"dtype": "float32",
"shape": [
14
],
"names": [
"right_abs_pos_gr1_contact_condition",
"right_abs_rot_gr1_contact_condition",
"left_abs_pos_gr1_contact_condition",
"left_abs_rot_gr1_contact_condition"
]
},
"observation.images.egoview": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"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
}
}
}