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| "codebase_version": "v3.0", | |
| "robot_type": "franka", | |
| "total_episodes": 500, | |
| "total_frames": 68739, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 20, | |
| "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": { | |
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| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "desc": "global RGB camera view", | |
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| "video.width": 256, | |
| "video.codec": "av1", | |
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| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_image": { | |
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| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "desc": "gripper RGB camera view", | |
| "info": { | |
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| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.states.tactile_depth": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 1 | |
| ], | |
| "names": [ | |
| "channel" | |
| ], | |
| "desc": "tactile depth map" | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
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| ], | |
| "names": { | |
| "motors": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ] | |
| }, | |
| "desc": "robot joint positions" | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
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| 6 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "x", | |
| "y", | |
| "z", | |
| "axis_angle1", | |
| "axis_angle2", | |
| "axis_angle3" | |
| ] | |
| }, | |
| "desc": "target action" | |
| }, | |
| "timestamp": { | |
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| 1 | |
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| "names": null | |
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| "frame_index": { | |
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| "episode_index": { | |
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| "task_index": { | |
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| } | |
| } | |
| } |