| { |
| "codebase_version": "v3.0", |
| "robot_type": "Franka", |
| "total_episodes": 99, |
| "total_frames": 9287, |
| "total_tasks": 82, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:99" |
| }, |
| "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.wrist_left": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_right": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.exterior_1_left": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.exterior_1_right": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.exterior_2_left": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.exterior_2_right": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "camera_extrinsics.wrist_left": { |
| "dtype": "float32", |
| "shape": [ |
| 4, |
| 4 |
| ], |
| "names": null |
| }, |
| "camera_extrinsics.wrist_right": { |
| "dtype": "float32", |
| "shape": [ |
| 4, |
| 4 |
| ], |
| "names": null |
| }, |
| "camera_extrinsics.exterior_1_left": { |
| "dtype": "float32", |
| "shape": [ |
| 4, |
| 4 |
| ], |
| "names": null |
| }, |
| "camera_extrinsics.exterior_1_right": { |
| "dtype": "float32", |
| "shape": [ |
| 4, |
| 4 |
| ], |
| "names": null |
| }, |
| "camera_extrinsics.exterior_2_left": { |
| "dtype": "float32", |
| "shape": [ |
| 4, |
| 4 |
| ], |
| "names": null |
| }, |
| "camera_extrinsics.exterior_2_right": { |
| "dtype": "float32", |
| "shape": [ |
| 4, |
| 4 |
| ], |
| "names": null |
| }, |
| "camera_intrinsics.wrist_left": { |
| "dtype": "float32", |
| "shape": [ |
| 3, |
| 3 |
| ], |
| "names": null |
| }, |
| "camera_intrinsics.wrist_right": { |
| "dtype": "float32", |
| "shape": [ |
| 3, |
| 3 |
| ], |
| "names": null |
| }, |
| "camera_intrinsics.exterior_1_left": { |
| "dtype": "float32", |
| "shape": [ |
| 3, |
| 3 |
| ], |
| "names": null |
| }, |
| "camera_intrinsics.exterior_1_right": { |
| "dtype": "float32", |
| "shape": [ |
| 3, |
| 3 |
| ], |
| "names": null |
| }, |
| "camera_intrinsics.exterior_2_left": { |
| "dtype": "float32", |
| "shape": [ |
| 3, |
| 3 |
| ], |
| "names": null |
| }, |
| "camera_intrinsics.exterior_2_right": { |
| "dtype": "float32", |
| "shape": [ |
| 3, |
| 3 |
| ], |
| "names": null |
| }, |
| "observation.state.gripper_position": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": { |
| "axes": [ |
| "gripper" |
| ] |
| } |
| }, |
| "observation.state.cartesian_position": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": { |
| "axes": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| } |
| }, |
| "observation.state.joint_position": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": { |
| "axes": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": { |
| "axes": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6", |
| "gripper" |
| ] |
| } |
| }, |
| "action.gripper_position": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": { |
| "axes": [ |
| "gripper" |
| ] |
| } |
| }, |
| "action.gripper_velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": { |
| "axes": [ |
| "gripper" |
| ] |
| } |
| }, |
| "action.cartesian_position": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": { |
| "axes": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| } |
| }, |
| "action.cartesian_velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": { |
| "axes": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| } |
| }, |
| "action.joint_position": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": { |
| "axes": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| } |
| }, |
| "action.joint_velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": { |
| "axes": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": { |
| "axes": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6", |
| "gripper" |
| ] |
| } |
| }, |
| "language_instruction": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "building": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "collector_id": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "date": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_path": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "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 |
| } |
| } |
| } |
