record-test / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "marvin_dual_7dof",
"total_episodes": 3,
"total_frames": 543,
"total_tasks": 1,
"total_videos": 3,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:3"
},
"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.external": {
"dtype": "video",
"shape": [
3,
256,
256
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
30
],
"names": {
"motors": [
"left_eef_x",
"left_eef_y",
"left_eef_z",
"left_eef_rx",
"left_eef_ry",
"left_eef_rz",
"left_eef_w",
"right_eef_x",
"right_eef_y",
"right_eef_z",
"right_eef_rx",
"right_eef_ry",
"right_eef_rz",
"right_eef_w",
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"left_gripper",
"right_gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
30
],
"names": {
"motors": [
"left_eef_x",
"left_eef_y",
"left_eef_z",
"left_eef_rx",
"left_eef_ry",
"left_eef_rz",
"left_eef_w",
"right_eef_x",
"right_eef_y",
"right_eef_z",
"right_eef_rx",
"right_eef_ry",
"right_eef_rz",
"right_eef_w",
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"left_gripper",
"right_gripper"
]
}
},
"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
}
}
}