| { | |
| "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 | |
| } | |
| } | |
| } |