| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "Franka", | |
| "total_episodes": 10240, | |
| "total_frames": 2988169, | |
| "total_tasks": 6798, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 15, | |
| "splits": { | |
| "train": "0:10240" | |
| }, | |
| "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": { | |
| "is_first": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "is_last": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "is_terminal": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "language_instruction": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "language_instruction_2": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "language_instruction_3": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.state.gripper_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "observation.state.cartesian_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| } | |
| }, | |
| "observation.state.joint_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ] | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "observation.images.wrist_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 180, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 15.0, | |
| "video.height": 180, | |
| "video.width": 320, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.exterior_1_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 180, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 15.0, | |
| "video.height": 180, | |
| "video.width": 320, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.exterior_2_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 180, | |
| 320, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 15.0, | |
| "video.height": 180, | |
| "video.width": 320, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "action.gripper_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "action.gripper_velocity": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "action.cartesian_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| } | |
| }, | |
| "action.cartesian_velocity": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| } | |
| }, | |
| "action.joint_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ] | |
| } | |
| }, | |
| "action.joint_velocity": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ] | |
| } | |
| }, | |
| "action.original": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "gripper" | |
| ] | |
| } | |
| }, | |
| "discount": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "reward": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_category": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "building": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "collector_id": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "date": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "camera_extrinsics.wrist_left": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| } | |
| }, | |
| "camera_extrinsics.exterior_1_left": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| } | |
| }, | |
| "camera_extrinsics.exterior_2_left": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| } | |
| }, | |
| "is_episode_successful": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "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 | |
| } | |
| } | |
| } |