{ | |
"codebase_version": "v2.0", | |
"robot_type": "franka", | |
"total_episodes": 8612, | |
"total_frames": 1137459, | |
"total_tasks": 24, | |
"total_videos": 34448, | |
"total_chunks": 9, | |
"chunks_size": 1000, | |
"fps": 10, | |
"splits": { | |
"train": "0:8612" | |
}, | |
"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.images.image_wrist_1": { | |
"dtype": "video", | |
"shape": [ | |
256, | |
256, | |
3 | |
], | |
"names": [ | |
"height", | |
"width", | |
"rgb" | |
], | |
"info": { | |
"video.fps": 10.0, | |
"video.height": 256, | |
"video.width": 256, | |
"video.channels": 3, | |
"video.codec": "av1", | |
"video.pix_fmt": "yuv420p", | |
"video.is_depth_map": false, | |
"has_audio": false | |
} | |
}, | |
"observation.images.image_wrist_2": { | |
"dtype": "video", | |
"shape": [ | |
256, | |
256, | |
3 | |
], | |
"names": [ | |
"height", | |
"width", | |
"rgb" | |
], | |
"info": { | |
"video.fps": 10.0, | |
"video.height": 256, | |
"video.width": 256, | |
"video.channels": 3, | |
"video.codec": "av1", | |
"video.pix_fmt": "yuv420p", | |
"video.is_depth_map": false, | |
"has_audio": false | |
} | |
}, | |
"observation.images.image_side_2": { | |
"dtype": "video", | |
"shape": [ | |
256, | |
256, | |
3 | |
], | |
"names": [ | |
"height", | |
"width", | |
"rgb" | |
], | |
"info": { | |
"video.fps": 10.0, | |
"video.height": 256, | |
"video.width": 256, | |
"video.channels": 3, | |
"video.codec": "av1", | |
"video.pix_fmt": "yuv420p", | |
"video.is_depth_map": false, | |
"has_audio": false | |
} | |
}, | |
"observation.images.image_side_1": { | |
"dtype": "video", | |
"shape": [ | |
256, | |
256, | |
3 | |
], | |
"names": [ | |
"height", | |
"width", | |
"rgb" | |
], | |
"info": { | |
"video.fps": 10.0, | |
"video.height": 256, | |
"video.width": 256, | |
"video.channels": 3, | |
"video.codec": "av1", | |
"video.pix_fmt": "yuv420p", | |
"video.is_depth_map": false, | |
"has_audio": false | |
} | |
}, | |
"observation.state": { | |
"dtype": "float32", | |
"shape": [ | |
8 | |
], | |
"names": { | |
"motors": [ | |
"x", | |
"y", | |
"z", | |
"roll", | |
"pitch", | |
"yaw", | |
"pad", | |
"gripper" | |
] | |
} | |
}, | |
"action": { | |
"dtype": "float32", | |
"shape": [ | |
7 | |
], | |
"names": { | |
"motors": [ | |
"x", | |
"y", | |
"z", | |
"roll", | |
"pitch", | |
"yaw", | |
"gripper" | |
] | |
} | |
}, | |
"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 | |
} | |
} | |
} |