LSY-lab/lego_stacking_generated_v0

{
    "codebase_version": "v2.1",
    "robot_type": "franka",
    "total_episodes": 300,
    "total_frames": 23303,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:300"
    },
    "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": {
        "observation.state.cartesian": {
            "shape": [
                6
            ],
            "dtype": "float32",
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw"
            ]
        },
        "observation.state.joints": {
            "shape": [
                7
            ],
            "dtype": "float32"
        },
        "observation.velocity.cartesian": {
            "shape": [
                3
            ],
            "dtype": "float32",
            "names": [
                "vx",
                "vy",
                "vz"
            ]
        },
        "observation.error.cartesian": {
            "shape": [
                3
            ],
            "dtype": "float32",
            "names": [
                "ex",
                "ey",
                "ez"
            ]
        },
        "observation.previous.action": {
            "shape": [
                3
            ],
            "dtype": "float32",
            "names": [
                "prev_dx",
                "prev_dy",
                "prev_dz"
            ]
        },
        "observation.previous.error.cartesian": {
            "shape": [
                3
            ],
            "dtype": "float32",
            "names": [
                "prev_ex",
                "prev_ey",
                "prev_ez"
            ]
        },
        "observation.state.sensors_bota_ft_sensor": {
            "shape": [
                6
            ],
            "dtype": "float32",
            "names": [
                "fx",
                "fy",
                "fz",
                "mx",
                "my",
                "mz"
            ]
        },
        "action": {
            "shape": [
                2
            ],
            "dtype": "float32",
            "names": [
                "dx",
                "dy"
            ]
        },
        "perfect_action": {
            "shape": [
                2
            ],
            "dtype": "float32",
            "names": [
                "dx",
                "dy"
            ]
        },
        "grasp_delta": {
            "shape": [
                3
            ],
            "dtype": "float32",
            "names": [
                "grasp_dx",
                "grasp_dy",
                "grasp_dz"
            ]
        },
        "goal_position_delta": {
            "shape": [
                2
            ],
            "dtype": "float32",
            "names": [
                "goal_dx",
                "goal_dy"
            ]
        },
        "reward": {
            "shape": [
                1
            ],
            "dtype": "float32"
        },
        "success": {
            "shape": [
                1
            ],
            "dtype": "bool"
        },
        "is_terminal": {
            "shape": [
                1
            ],
            "dtype": "bool"
        },
        "observation.features.wrist_camera": {
            "shape": [
                384
            ],
            "dtype": "float32"
        },
        "observation.formatted": {
            "shape": [
                398
            ],
            "dtype": "float32"
        },
        "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
        }
    }
}

[More Information Needed]