| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "franka", | |
| "total_episodes": 70, | |
| "total_frames": 14559, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 15, | |
| "splits": { | |
| "train": "0:70" | |
| }, | |
| "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", | |
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| 256, | |
| 3 | |
| ], | |
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| "channels" | |
| ], | |
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| "video.codec": "av1", | |
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| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist": { | |
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| 256, | |
| 3 | |
| ], | |
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| ], | |
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| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
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| ], | |
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| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.state.gripper": { | |
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| 1 | |
| ], | |
| "names": [ | |
| "gripper" | |
| ] | |
| }, | |
| "observation.state.target": { | |
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| 6 | |
| ], | |
| "names": [ | |
| "target_x", | |
| "target_y", | |
| "target_z", | |
| "target_roll", | |
| "target_pitch", | |
| "target_yaw" | |
| ] | |
| }, | |
| "observation.state": { | |
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| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
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| "pitch", | |
| "yaw", | |
| "gripper", | |
| "target_x", | |
| "target_y", | |
| "target_z", | |
| "target_roll", | |
| "target_pitch", | |
| "target_yaw" | |
| ] | |
| }, | |
| "action": { | |
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| 7 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "gripper" | |
| ] | |
| }, | |
| "next.reward": { | |
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| 1 | |
| ], | |
| "names": [ | |
| "reward" | |
| ] | |
| }, | |
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| "dtype": "bool", | |
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| 1 | |
| ], | |
| "names": [ | |
| "success" | |
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| }, | |
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| }, | |
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| }, | |
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| "names": null | |
| } | |
| } | |
| } |