| { | |
| "codebase_version": "v2.1", | |
| "dataset_name": "fr3_dataset", | |
| "robot_type": "fr3", | |
| "total_episodes": 1, | |
| "total_frames": 1610, | |
| "total_tasks": 1, | |
| "total_videos": 1, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30.0, | |
| "splits": { | |
| "train": "0:1" | |
| }, | |
| "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": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 2 | |
| ], | |
| "names": [ | |
| "fr3_finger_joint1", | |
| "fr3_finger_joint2" | |
| ] | |
| }, | |
| "observation.state": { | |
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| "shape": [ | |
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| ], | |
| "names": [ | |
| "fr3_joint1", | |
| "fr3_joint2", | |
| "fr3_joint3", | |
| "fr3_joint4", | |
| "fr3_joint5", | |
| "fr3_joint6", | |
| "fr3_joint7", | |
| "fr3_finger_joint1", | |
| "fr3_finger_joint2" | |
| ] | |
| }, | |
| "timestamp": { | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "index": { | |
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| "names": null | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
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| "names": null | |
| }, | |
| "reward": { | |
| "dtype": "float32", | |
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| 1 | |
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| "names": null | |
| }, | |
| "next.reward": { | |
| "dtype": "float32", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "done": { | |
| "dtype": "bool", | |
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| 1 | |
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| "names": null | |
| }, | |
| "next.done": { | |
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| ], | |
| "names": null | |
| } | |
| } | |
| } |