|
|
{ |
|
|
"codebase_version": "v3.0", |
|
|
"robot_type": "franka", |
|
|
"total_episodes": 500, |
|
|
"total_frames": 65847, |
|
|
"total_tasks": 5, |
|
|
"chunks_size": 1000, |
|
|
"data_files_size_in_mb": 100, |
|
|
"video_files_size_in_mb": 500, |
|
|
"fps": 10, |
|
|
"splits": { |
|
|
"train": "0:500" |
|
|
}, |
|
|
"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.state": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": [ |
|
|
"x", |
|
|
"y", |
|
|
"z", |
|
|
"roll", |
|
|
"pitch", |
|
|
"yaw", |
|
|
"gripper" |
|
|
], |
|
|
"description": "End-effector position (x,y,z), orientation (roll,pitch,yaw) and gripper state (0.0 closed, 1.0 open)." |
|
|
}, |
|
|
"action": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": [ |
|
|
"x", |
|
|
"y", |
|
|
"z", |
|
|
"roll", |
|
|
"pitch", |
|
|
"yaw", |
|
|
"gripper" |
|
|
], |
|
|
"description": "Delta action applied at each step, in Euler representation [xyz+rotation+gripper]." |
|
|
}, |
|
|
"observation.state.joints": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": [ |
|
|
"joint_1", |
|
|
"joint_2", |
|
|
"joint_3", |
|
|
"joint_4", |
|
|
"joint_5", |
|
|
"joint_6", |
|
|
"joint_7" |
|
|
], |
|
|
"description": "Robot joint positions (absolute rotations)." |
|
|
}, |
|
|
"observation.images.left_shoulder_rgb": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
256, |
|
|
256, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"channels" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 10, |
|
|
"video.height": 256, |
|
|
"video.width": 256, |
|
|
"video.channels": 3, |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.images.front_rgb": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
256, |
|
|
256, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"channels" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 10, |
|
|
"video.height": 256, |
|
|
"video.width": 256, |
|
|
"video.channels": 3, |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.images.wrist_rgb": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
256, |
|
|
256, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"channels" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 10, |
|
|
"video.height": 256, |
|
|
"video.width": 256, |
|
|
"video.channels": 3, |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"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 |
|
|
} |
|
|
} |
|
|
} |
