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{
"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",
"features": {
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"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist": {
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256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state.cartesian": {
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6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.state.gripper": {
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"shape": [
1
],
"names": [
"gripper"
]
},
"observation.state.target": {
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"shape": [
6
],
"names": [
"target_x",
"target_y",
"target_z",
"target_roll",
"target_pitch",
"target_yaw"
]
},
"observation.state": {
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"shape": [
13
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper",
"target_x",
"target_y",
"target_z",
"target_roll",
"target_pitch",
"target_yaw"
]
},
"action": {
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"shape": [
7
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
},
"next.reward": {
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1
],
"names": [
"reward"
]
},
"next.success": {
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"shape": [
1
],
"names": [
"success"
]
},
"timestamp": {
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],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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1
],
"names": null
},
"index": {
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1
],
"names": null
},
"task_index": {
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1
],
"names": null
}
}
}