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{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 715,
"total_frames": 109238,
"total_tasks": 88,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:715"
},
"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": {
"image": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"tactile_image": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
13
],
"names": [
"actions"
]
},
"tactile_gripper_force": {
"dtype": "float32",
"shape": [
8,
6
],
"names": [
"tactile_gripper_force"
]
},
"tactile_marker_motion": {
"dtype": "float32",
"shape": [
9,
198,
2
],
"names": [
"tactile_marker_motion"
]
},
"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
}
}
}