| { |
| "codebase_version": "v3.0", |
| "robot_type": "franka_fr3_osc", |
| "total_episodes": 100, |
| "total_frames": 17700, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 10, |
| "splits": { |
| "train": "0:100" |
| }, |
| "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.third_person_0": { |
| "dtype": "video", |
| "shape": [ |
| 180, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 180, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.third_person_1": { |
| "dtype": "video", |
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| 180, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 180, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist": { |
| "dtype": "video", |
| "shape": [ |
| 180, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 180, |
| "video.width": 320, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 23 |
| ], |
| "names": [ |
| "joint_pos.0", |
| "joint_pos.1", |
| "joint_pos.2", |
| "joint_pos.3", |
| "joint_pos.4", |
| "joint_pos.5", |
| "joint_pos.6", |
| "joint_pos.7", |
| "joint_pos.8", |
| "end_effector_pose.0", |
| "end_effector_pose.1", |
| "end_effector_pose.2", |
| "end_effector_pose.3", |
| "end_effector_pose.4", |
| "end_effector_pose.5", |
| "end_effector_pose.6", |
| "prev_actions.0", |
| "prev_actions.1", |
| "prev_actions.2", |
| "prev_actions.3", |
| "prev_actions.4", |
| "prev_actions.5", |
| "prev_actions.6" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "osc_action.0", |
| "osc_action.1", |
| "osc_action.2", |
| "osc_action.3", |
| "osc_action.4", |
| "osc_action.5", |
| "osc_action.6" |
| ] |
| }, |
| "visual.profile_id": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "profile_id" |
| ] |
| }, |
| "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 |
| } |
| } |
| } |
