Jiaming2472's picture
Upload folder using huggingface_hub
b598c05 verified
{
"codebase_version": "v2.0",
"robot_type": "franka",
"total_episodes": 1800,
"total_frames": 378290,
"total_tasks": 206,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1800"
},
"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": {
"front_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"left_shoulder_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"right_shoulder_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"overhead_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"current_position"
]
},
"actions": {
"dtype": "float32",
"shape": [
7
],
"names": [
"next_position"
]
},
"joint_velocities": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_velocities"
]
},
"joint_positions": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_positions"
]
},
"gripper_pose": {
"dtype": "float32",
"shape": [
6
],
"names": [
"gripper_pose"
]
},
"gripper_open": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_open"
]
},
"ignore_collisions": {
"dtype": "float32",
"shape": [
1
],
"names": [
"ignore_collisions"
]
},
"next_joint_velocities": {
"dtype": "float32",
"shape": [
7
],
"names": [
"next_joint_velocities"
]
},
"next_joint_positions": {
"dtype": "float32",
"shape": [
7
],
"names": [
"next_joint_positions"
]
},
"next_gripper_pose": {
"dtype": "float32",
"shape": [
6
],
"names": [
"next_gripper_pose"
]
},
"next_gripper_open": {
"dtype": "float32",
"shape": [
1
],
"names": [
"next_gripper_open"
]
},
"next_ignore_collisions": {
"dtype": "float32",
"shape": [
1
],
"names": [
"next_ignore_collisions"
]
},
"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
}
}
}