| { | |
| "codebase_version": "v2.0", | |
| "format": "groot_n1", | |
| "robot_type": "franka", | |
| "fps": 30, | |
| "total_episodes": 202, | |
| "total_frames": 122974, | |
| "embodiment_id": 0, | |
| "language_instruction": "Stack the colored blocks into the bowl", | |
| "image_size": [ | |
| 224, | |
| 224 | |
| ], | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 11 | |
| ] | |
| }, | |
| "observation.eef_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.eef_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "observation.images.table_cam": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ] | |
| }, | |
| "observation.images.wrist_cam": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "embodiment_id": { | |
| "dtype": "int64" | |
| }, | |
| "language_instruction": { | |
| "dtype": "string" | |
| } | |
| } | |
| } |