trace_v1 / meta /info.json
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{
"codebase_version": "v3.0",
"robot_type": "franka_emika_panda",
"total_episodes": 500,
"total_frames": 122002,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20.0,
"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": {
"action": {
"dtype": "float32",
"shape": [
20,
7
]
},
"action_is_pad": {
"dtype": "bool",
"shape": [
20
]
},
"observation.state.joint_pos": {
"dtype": "float32",
"shape": [
9
]
},
"observation.state.eef_pos": {
"dtype": "float32",
"shape": [
3
]
},
"observation.state.eef_quat": {
"dtype": "float32",
"shape": [
4
]
},
"observation.images.table_cam": {
"dtype": "image",
"shape": [
3,
224,
224
]
},
"observation.images.table_cam_trace": {
"dtype": "image",
"shape": [
3,
224,
224
]
},
"observation.images.wrist_cam": {
"dtype": "image",
"shape": [
3,
224,
224
]
},
"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
}
}
}