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{
"codebase_version": "v2.0",
"robot_type": "franka",
"total_episodes": 1500,
"total_frames": 361883,
"total_tasks": 50,
"total_videos": 3000,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 20,
"splits": {
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},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
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128,
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],
"names": [
"height",
"width",
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],
"info": {
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"video.width": 128,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_image": {
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128,
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],
"names": [
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],
"info": {
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"video.codec": "av1",
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"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
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],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"gripper"
]
}
},
"action": {
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7
],
"names": {
"motors": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
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]
}
},
"timestamp": {
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],
"names": null
},
"frame_index": {
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],
"names": null
},
"episode_index": {
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],
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},
"index": {
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},
"task_index": {
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}
}
}