drawer_v1 / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 76,
"total_frames": 22566,
"total_tasks": 1,
"total_videos": 152,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:76"
},
"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.images.primary": {
"dtype": "video",
"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
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
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
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state.cartesian": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.state.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"observation.state.joints": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"observation.state.sensors_ft_sensor": {
"dtype": "float32",
"shape": [
6
],
"names": [
"sensors_ft_sensor_0",
"sensors_ft_sensor_1",
"sensors_ft_sensor_2",
"sensors_ft_sensor_3",
"sensors_ft_sensor_4",
"sensors_ft_sensor_5"
]
},
"observation.state.target": {
"dtype": "float32",
"shape": [
6
],
"names": [
"target_x",
"target_y",
"target_z",
"target_roll",
"target_pitch",
"target_yaw"
]
},
"observation.state": {
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"shape": [
26
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper",
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"sensors_ft_sensor_0",
"sensors_ft_sensor_1",
"sensors_ft_sensor_2",
"sensors_ft_sensor_3",
"sensors_ft_sensor_4",
"sensors_ft_sensor_5",
"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"
]
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
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1
],
"names": null
}
}
}