michaelyeah7's picture
Add files using upload-large-folder tool
f61839f verified
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 2357,
"total_frames": 476161,
"total_tasks": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2357"
},
"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",
"total_videos": 4714,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper_left",
"gripper_right"
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
3,
480,
480
],
"names": [
"channels",
"height",
"width"
],
"video_info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
3,
480,
480
],
"names": [
"channels",
"height",
"width"
],
"video_info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"pos_x",
"pos_y",
"pos_z",
"quat_w",
"quat_x",
"quat_y",
"quat_z",
"gripper"
]
},
"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
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
}
},
"repo_id": "magicsim/panda_grasp_red_apple_409_v21"
}