v21_test / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "ffw_bg2_rev4",
"total_episodes": 1,
"total_frames": 530,
"total_tasks": 1,
"total_videos": 3,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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": {
"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
},
"observation.state": {
"dtype": "float32",
"shape": [
19
],
"names": [
"arm_l_joint1",
"arm_l_joint2",
"arm_l_joint3",
"arm_l_joint4",
"arm_l_joint5",
"arm_l_joint6",
"arm_l_joint7",
"gripper_l_joint1",
"arm_r_joint1",
"arm_r_joint2",
"arm_r_joint3",
"arm_r_joint4",
"arm_r_joint5",
"arm_r_joint6",
"arm_r_joint7",
"gripper_r_joint1",
"head_joint1",
"head_joint2",
"lift_joint"
]
},
"action": {
"dtype": "float32",
"shape": [
19
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"joint_8",
"joint_9",
"joint_10",
"joint_11",
"joint_12",
"joint_13",
"joint_14",
"joint_15",
"joint_16",
"joint_17",
"joint_18"
]
},
"observation.images.cam_head": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.cam_wrist_left": {
"dtype": "video",
"shape": [
240,
424,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.cam_wrist_right": {
"dtype": "video",
"shape": [
240,
424,
3
],
"names": [
"height",
"width",
"channels"
]
}
}
}