| { |
| "codebase_version": "v3.0", |
| "robot_type": "franka", |
| "total_episodes": 3242, |
| "total_frames": 213972, |
| "total_tasks": 403, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 15, |
| "splits": { |
| "train": "0:3242" |
| }, |
| "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.images.rgb_static": { |
| "dtype": "video", |
| "shape": [ |
| 150, |
| 200, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 150, |
| "video.width": 200, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.rgb_gripper": { |
| "dtype": "video", |
| "shape": [ |
| 84, |
| 84, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "rgb" |
| ], |
| "info": { |
| "video.height": 84, |
| "video.width": 84, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "state.eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "state.eef_rpy": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "state.eef_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "rot1", |
| "rot2", |
| "rot3", |
| "rot4", |
| "rot5", |
| "rot6" |
| ] |
| }, |
| "state.joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "state.gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "rot1", |
| "rot2", |
| "rot3", |
| "rot4", |
| "rot5", |
| "rot6", |
| "gripper" |
| ] |
| }, |
| "action.diff_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "action.diff_eef_rpy": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "action.world_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "action.world_eef_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "rot1", |
| "rot2", |
| "rot3", |
| "rot4", |
| "rot5", |
| "rot6" |
| ] |
| }, |
| "action.gripper_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "action.gripper_eef_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "rot1", |
| "rot2", |
| "rot3", |
| "rot4", |
| "rot5", |
| "rot6" |
| ] |
| }, |
| "action.diff_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "action.diff_eef_xyz_command": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "action.diff_eef_rpy_command": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "action.world_eef_xyz_command": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "action.world_eef_rot6d_command": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "rot1", |
| "rot2", |
| "rot3", |
| "rot4", |
| "rot5", |
| "rot6" |
| ] |
| }, |
| "action.gripper_eef_xyz_command": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "action.gripper_eef_rot6d_command": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "rot1", |
| "rot2", |
| "rot3", |
| "rot4", |
| "rot5", |
| "rot6" |
| ] |
| }, |
| "action.gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "rot1", |
| "rot2", |
| "rot3", |
| "rot4", |
| "rot5", |
| "rot6", |
| "gripper" |
| ] |
| }, |
| "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 |
| } |
| } |
| } |
