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SC-R6D-N

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SC-R6D-N
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{
  "codebase_version": "v3.0",
  "robot_type": "stackcube",
  "control_mode": "pd_ee_delta_pose",
  "action_rotation_6d": true,
  "total_episodes": 50,
  "total_frames": 5607,
  "total_tasks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "splits": {
    "train": "0:50"
  },
  "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",
  "features": {
    "action": {
      "dtype": "float32",
      "shape": [
        10
      ],
      "names": [
        "delta_pos_x",
        "delta_pos_y",
        "delta_pos_z",
        "rot6d_0",
        "rot6d_1",
        "rot6d_2",
        "rot6d_3",
        "rot6d_4",
        "rot6d_5",
        "gripper"
      ],
      "fps": 30.0
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        16
      ],
      "names": [
        "qpos_0",
        "qpos_1",
        "qpos_2",
        "qpos_3",
        "qpos_4",
        "qpos_5",
        "qpos_6",
        "qpos_7",
        "qpos_8",
        "tcp_pose_0",
        "tcp_pose_1",
        "tcp_pose_2",
        "tcp_pose_3",
        "tcp_pose_4",
        "tcp_pose_5",
        "tcp_pose_6"
      ],
      "fps": 30.0
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30.0
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30.0
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30.0
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30.0
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30.0
    },
    "task": {
      "dtype": "string",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30.0
    },
    "observation.images.base_camera": {
      "dtype": "video",
      "shape": [
        128,
        128,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.fps": 30.0,
        "video.height": 128,
        "video.width": 128,
        "video.channels": 3,
        "video.codec": "mp4v",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.images.hand_camera": {
      "dtype": "video",
      "shape": [
        128,
        128,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.fps": 30.0,
        "video.height": 128,
        "video.width": 128,
        "video.channels": 3,
        "video.codec": "mp4v",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    }
  }
}