| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "franka", | |
| "total_episodes": 11, | |
| "total_frames": 8765, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "fps": 15, | |
| "splits": { | |
| "train": "0:11" | |
| }, | |
| "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": { | |
| "observation.images.primary": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| }, | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 15, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.tactile": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| }, | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 15, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| }, | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 15, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state.cartesian": { | |
| "dtype": "float32", | |
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| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ], | |
| "fps": 15 | |
| }, | |
| "observation.state.gripper": { | |
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| 1 | |
| ], | |
| "names": [ | |
| "gripper" | |
| ], | |
| "fps": 15 | |
| }, | |
| "observation.state.joints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ], | |
| "fps": 15 | |
| }, | |
| "observation.state.sensors_ft_sensor": { | |
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| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "sensors_ft_sensor_0", | |
| "sensors_ft_sensor_1", | |
| "sensors_ft_sensor_2", | |
| "sensors_ft_sensor_3", | |
| "sensors_ft_sensor_4", | |
| "sensors_ft_sensor_5" | |
| ], | |
| "fps": 15 | |
| }, | |
| "observation.state.sensors_tactile_sensor": { | |
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| ], | |
| "names": [ | |
| "sensors_tactile_sensor_0", | |
| "sensors_tactile_sensor_1", | |
| "sensors_tactile_sensor_2", | |
| "sensors_tactile_sensor_3", | |
| "sensors_tactile_sensor_4", | |
| "sensors_tactile_sensor_5", | |
| "sensors_tactile_sensor_6", | |
| "sensors_tactile_sensor_7", | |
| "sensors_tactile_sensor_8", | |
| "sensors_tactile_sensor_9", | |
| "sensors_tactile_sensor_10", | |
| "sensors_tactile_sensor_11", | |
| "sensors_tactile_sensor_12", | |
| "sensors_tactile_sensor_13", | |
| "sensors_tactile_sensor_14" | |
| ], | |
| "fps": 15 | |
| }, | |
| "observation.state.target": { | |
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| 6 | |
| ], | |
| "names": [ | |
| "target_x", | |
| "target_y", | |
| "target_z", | |
| "target_roll", | |
| "target_pitch", | |
| "target_yaw" | |
| ], | |
| "fps": 15 | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
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| 41 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "gripper", | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "sensors_ft_sensor_0", | |
| "sensors_ft_sensor_1", | |
| "sensors_ft_sensor_2", | |
| "sensors_ft_sensor_3", | |
| "sensors_ft_sensor_4", | |
| "sensors_ft_sensor_5", | |
| "sensors_tactile_sensor_0", | |
| "sensors_tactile_sensor_1", | |
| "sensors_tactile_sensor_2", | |
| "sensors_tactile_sensor_3", | |
| "sensors_tactile_sensor_4", | |
| "sensors_tactile_sensor_5", | |
| "sensors_tactile_sensor_6", | |
| "sensors_tactile_sensor_7", | |
| "sensors_tactile_sensor_8", | |
| "sensors_tactile_sensor_9", | |
| "sensors_tactile_sensor_10", | |
| "sensors_tactile_sensor_11", | |
| "sensors_tactile_sensor_12", | |
| "sensors_tactile_sensor_13", | |
| "sensors_tactile_sensor_14", | |
| "target_x", | |
| "target_y", | |
| "target_z", | |
| "target_roll", | |
| "target_pitch", | |
| "target_yaw" | |
| ], | |
| "fps": 15 | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
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| 7 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "gripper" | |
| ], | |
| "fps": 15 | |
| }, | |
| "timestamp": { | |
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| 1 | |
| ], | |
| "names": null, | |
| "fps": 15 | |
| }, | |
| "frame_index": { | |
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| 1 | |
| ], | |
| "names": null, | |
| "fps": 15 | |
| }, | |
| "episode_index": { | |
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| 1 | |
| ], | |
| "names": null, | |
| "fps": 15 | |
| }, | |
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| ], | |
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| "fps": 15 | |
| }, | |
| "task_index": { | |
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| 1 | |
| ], | |
| "names": null, | |
| "fps": 15 | |
| } | |
| }, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500 | |
| } |