Download insert/insert_plug_2/meta/info.json from Joringell/CRIA: direct link, hf CLI and curl.
- Browser
- Download file 6.06 kB
-
https://huggingface.co/datasets/Joringell/CRIA/resolve/main/insert/insert_plug_2/meta/info.json
- Command line
-
hf download hf://datasets/Joringell/CRIA/insert/insert_plug_2/meta/info.json
-
curl -L -o info.json https://huggingface.co/datasets/Joringell/CRIA/resolve/main/insert/insert_plug_2/meta/info.json
6.06 kB
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "franka_fr3", | |
| "total_episodes": 150, | |
| "total_frames": 88564, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "total_chunks": 1, | |
| "fps": 30.0, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_path": "videos/{video_key}/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": [ | |
| "ee_pose_cmd_x", | |
| "ee_pose_cmd_y", | |
| "ee_pose_cmd_z", | |
| "ee_pose_cmd_qx", | |
| "ee_pose_cmd_qy", | |
| "ee_pose_cmd_qz", | |
| "ee_pose_cmd_qw", | |
| "gripper_state" | |
| ], | |
| "info": { | |
| "action_source": "ee_pose_cmd_plus_gripper_state", | |
| "pose_format": "xyz_quat_xyzw" | |
| } | |
| }, | |
| "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.q_cmd": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "q_cmd_0", | |
| "q_cmd_1", | |
| "q_cmd_2", | |
| "q_cmd_3", | |
| "q_cmd_4", | |
| "q_cmd_5", | |
| "q_cmd_6" | |
| ] | |
| }, | |
| "observation.state.q": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "q_0", | |
| "q_1", | |
| "q_2", | |
| "q_3", | |
| "q_4", | |
| "q_5", | |
| "q_6" | |
| ] | |
| }, | |
| "observation.state.ee_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "ee_pose_x", | |
| "ee_pose_y", | |
| "ee_pose_z", | |
| "ee_pose_qx", | |
| "ee_pose_qy", | |
| "ee_pose_qz", | |
| "ee_pose_qw" | |
| ], | |
| "info": { | |
| "pose_format": "xyz_quat_xyzw", | |
| "source_matrix_shape": [ | |
| 4, | |
| 4 | |
| ] | |
| } | |
| }, | |
| "observation.state.ee_pose_cmd": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "ee_pose_cmd_x", | |
| "ee_pose_cmd_y", | |
| "ee_pose_cmd_z", | |
| "ee_pose_cmd_qx", | |
| "ee_pose_cmd_qy", | |
| "ee_pose_cmd_qz", | |
| "ee_pose_cmd_qw" | |
| ], | |
| "info": { | |
| "pose_format": "xyz_quat_xyzw", | |
| "source_matrix_shape": [ | |
| 4, | |
| 4 | |
| ] | |
| } | |
| }, | |
| "observation.state.gripper_state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_state" | |
| ] | |
| }, | |
| "observation.state.wrench_raw_chunk": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4, | |
| 6 | |
| ], | |
| "names": null, | |
| "info": { | |
| "chunk_shape": [ | |
| 4, | |
| 6 | |
| ], | |
| "window_s": null, | |
| "channel_names": [ | |
| "fx", | |
| "fy", | |
| "fz", | |
| "tx", | |
| "ty", | |
| "tz" | |
| ] | |
| } | |
| }, | |
| "observation.state.wrench_filtered_chunk": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4, | |
| 6 | |
| ], | |
| "names": null, | |
| "info": { | |
| "chunk_shape": [ | |
| 4, | |
| 6 | |
| ], | |
| "window_s": null, | |
| "channel_names": [ | |
| "fx", | |
| "fy", | |
| "fz", | |
| "tx", | |
| "ty", | |
| "tz" | |
| ] | |
| } | |
| }, | |
| "observation.state.wrench_chunk_valid_len": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "valid_len" | |
| ], | |
| "info": { | |
| "max_valid_len": 4 | |
| } | |
| }, | |
| "timestamp_us": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "source_id": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_label": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_label": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "frame_label" | |
| ] | |
| }, | |
| "interaction_label": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "interaction_label" | |
| ] | |
| }, | |
| "side_1": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 192, | |
| 256 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 192, | |
| "video.width": 256, | |
| "video.codec": "libx264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30.0, | |
| "video.channels": 3, | |
| "has_audio": false, | |
| "source_crop_y0y1x0x1": null, | |
| "source_resize_wh": null | |
| } | |
| }, | |
| "side_2": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 192, | |
| 256 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 192, | |
| "video.width": 256, | |
| "video.codec": "libx264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30.0, | |
| "video.channels": 3, | |
| "has_audio": false, | |
| "source_crop_y0y1x0x1": null, | |
| "source_resize_wh": null | |
| } | |
| }, | |
| "wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 192, | |
| 256 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 192, | |
| "video.width": 256, | |
| "video.codec": "libx264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30.0, | |
| "video.channels": 3, | |
| "has_audio": false, | |
| "source_crop_y0y1x0x1": null, | |
| "source_resize_wh": null | |
| } | |
| } | |
| } | |
| } | |