test_obs_new / meta /info.json
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{
"codebase_version" : "v3.0",
"robot_type" : "alex",
"total_episodes" : 29,
"total_frames" : 6763,
"total_tasks" : 1,
"total_chunks" : 1,
"chunks_size" : 1000,
"fps" : 30.0,
"splits" : {
"train" : "0:29"
},
"data_path" : "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path" : "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features" : {
"observation.images.cam_zed_left" : {
"dtype" : "video",
"shape" : [ 480, 640, 3 ],
"names" : [ "height", "width", "channel" ],
"fps" : 30.0,
"video_info" : {
"video.fps" : 30.0,
"video.codec" : "h264",
"video.pix_fmt" : "yuv420p",
"video.is_depth_map" : false,
"has_audio" : false
}
},
"observation.images.cam_zed_right" : {
"dtype" : "video",
"shape" : [ 480, 640, 3 ],
"names" : [ "height", "width", "channel" ],
"fps" : 30.0,
"video_info" : {
"video.fps" : 30.0,
"video.codec" : "h264",
"video.pix_fmt" : "yuv420p",
"video.is_depth_map" : false,
"has_audio" : false
}
},
"observation.state" : {
"dtype" : "float32",
"shape" : [ 48 ],
"names" : {
"motors" : [ "left_gripper_x", "left_gripper_y", "left_gripper_z", "left_gripper_qx", "left_gripper_qy", "left_gripper_qz", "left_gripper_qs", "right_gripper_x", "right_gripper_y", "right_gripper_z", "right_gripper_qx", "right_gripper_qy", "right_gripper_qz", "right_gripper_qs", "left_forearm_qx", "left_forearm_qy", "left_forearm_qz", "left_forearm_qs", "right_forearm_qx", "right_forearm_qy", "right_forearm_qz", "right_forearm_qs", "head_qx", "head_qy", "head_qz", "head_qs", "left_ability_hand_index_q1", "left_ability_hand_index_q2", "left_ability_hand_middle_q1", "left_ability_hand_middle_q2", "left_ability_hand_ring_q1", "left_ability_hand_ring_q2", "left_ability_hand_pinky_q1", "left_ability_hand_pinky_q2", "left_ability_hand_thumb_q1", "left_ability_hand_thumb_q2", "right_ability_hand_index_q1", "right_ability_hand_index_q2", "right_ability_hand_middle_q1", "right_ability_hand_middle_q2", "right_ability_hand_ring_q1", "right_ability_hand_ring_q2", "right_ability_hand_pinky_q1", "right_ability_hand_pinky_q2", "right_ability_hand_thumb_q1", "right_ability_hand_thumb_q2", "spine_z", "spine_y" ]
},
"fps" : 30.0
},
"action" : {
"dtype" : "float32",
"shape" : [ 46 ],
"names" : {
"motors" : [ "left_gripper_x", "left_gripper_y", "left_gripper_z", "left_gripper_qx", "left_gripper_qy", "left_gripper_qz", "left_gripper_qs", "right_gripper_x", "right_gripper_y", "right_gripper_z", "right_gripper_qx", "right_gripper_qy", "right_gripper_qz", "right_gripper_qs", "left_forearm_qx", "left_forearm_qy", "left_forearm_qz", "left_forearm_qs", "right_forearm_qx", "right_forearm_qy", "right_forearm_qz", "right_forearm_qs", "head_qx", "head_qy", "head_qz", "head_qs", "left_ability_hand_index_q1", "left_ability_hand_index_q2", "left_ability_hand_middle_q1", "left_ability_hand_middle_q2", "left_ability_hand_ring_q1", "left_ability_hand_ring_q2", "left_ability_hand_pinky_q1", "left_ability_hand_pinky_q2", "left_ability_hand_thumb_q1", "left_ability_hand_thumb_q2", "right_ability_hand_index_q1", "right_ability_hand_index_q2", "right_ability_hand_middle_q1", "right_ability_hand_middle_q2", "right_ability_hand_ring_q1", "right_ability_hand_ring_q2", "right_ability_hand_pinky_q1", "right_ability_hand_pinky_q2", "right_ability_hand_thumb_q1", "right_ability_hand_thumb_q2" ]
},
"fps" : 30.0
},
"episode_index" : {
"dtype" : "int64",
"shape" : [ 1 ],
"names" : null,
"fps" : 30.0
},
"frame_index" : {
"dtype" : "int64",
"shape" : [ 1 ],
"names" : null,
"fps" : 30.0
},
"timestamp" : {
"dtype" : "float32",
"shape" : [ 1 ],
"names" : null,
"fps" : 30.0
},
"next.done" : {
"dtype" : "bool",
"shape" : [ 1 ],
"names" : null,
"fps" : 30.0
},
"index" : {
"dtype" : "int64",
"shape" : [ 1 ],
"names" : null,
"fps" : 30.0
},
"task_index" : {
"dtype" : "int64",
"shape" : [ 1 ],
"names" : null,
"fps" : 30.0
}
}
}