| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "franka", | |
| "total_episodes": 133, | |
| "total_frames": 30706, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:133" | |
| }, | |
| "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.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "gripper_left", | |
| "gripper_right" | |
| ], | |
| "fps": 30 | |
| }, | |
| "observation.images.front_1": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.front_2": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "has_audio": false | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "gripper" | |
| ], | |
| "fps": 30 | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| } | |
| }, | |
| "repo_id": "saifahmad123/Real_Random_New" | |
| } |