G1_TA_Demo / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "teleavatar",
"total_episodes": 50,
"total_frames": 62111,
"total_tasks": 10,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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": {
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],
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"left_joint2_position",
"left_joint3_position",
"left_joint4_position",
"left_joint5_position",
"left_joint6_position",
"left_joint7_position",
"left_gripper_position",
"right_joint1_position",
"right_joint2_position",
"right_joint3_position",
"right_joint4_position",
"right_joint5_position",
"right_joint6_position",
"right_joint7_position",
"right_gripper_position",
"left_joint1_velocity",
"left_joint2_velocity",
"left_joint3_velocity",
"left_joint4_velocity",
"left_joint5_velocity",
"left_joint6_velocity",
"left_joint7_velocity",
"left_gripper_velocity",
"right_joint1_velocity",
"right_joint2_velocity",
"right_joint3_velocity",
"right_joint4_velocity",
"right_joint5_velocity",
"right_joint6_velocity",
"right_joint7_velocity",
"right_gripper_velocity",
"left_joint1_effort",
"left_joint2_effort",
"left_joint3_effort",
"left_joint4_effort",
"left_joint5_effort",
"left_joint6_effort",
"left_joint7_effort",
"left_gripper_effort",
"right_joint1_effort",
"right_joint2_effort",
"right_joint3_effort",
"right_joint4_effort",
"right_joint5_effort",
"right_joint6_effort",
"right_joint7_effort",
"right_gripper_effort",
"left_ee_position_x",
"left_ee_position_y",
"left_ee_position_z",
"left_ee_orientation_x",
"left_ee_orientation_y",
"left_ee_orientation_z",
"left_ee_orientation_w",
"right_ee_position_x",
"right_ee_position_y",
"right_ee_position_z",
"right_ee_orientation_x",
"right_ee_orientation_y",
"right_ee_orientation_z",
"right_ee_orientation_w"
]
},
"observation.state": {
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],
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"left_joint7_position",
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"right_joint5_position",
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"right_joint7_position",
"right_gripper_position",
"left_joint1_velocity",
"left_joint2_velocity",
"left_joint3_velocity",
"left_joint4_velocity",
"left_joint5_velocity",
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"left_joint7_velocity",
"left_gripper_velocity",
"right_joint1_velocity",
"right_joint2_velocity",
"right_joint3_velocity",
"right_joint4_velocity",
"right_joint5_velocity",
"right_joint6_velocity",
"right_joint7_velocity",
"right_gripper_velocity",
"left_joint1_effort",
"left_joint2_effort",
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"left_joint4_effort",
"left_joint5_effort",
"left_joint6_effort",
"left_joint7_effort",
"left_gripper_effort",
"right_joint1_effort",
"right_joint2_effort",
"right_joint3_effort",
"right_joint4_effort",
"right_joint5_effort",
"right_joint6_effort",
"right_joint7_effort",
"right_gripper_effort",
"left_ee_position_x",
"left_ee_position_y",
"left_ee_position_z",
"left_ee_orientation_x",
"left_ee_orientation_y",
"left_ee_orientation_z",
"left_ee_orientation_w",
"right_ee_position_x",
"right_ee_position_y",
"right_ee_position_z",
"right_ee_orientation_x",
"right_ee_orientation_y",
"right_ee_orientation_z",
"right_ee_orientation_w"
]
},
"observation.images.left_color": {
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480,
848,
3
],
"names": [
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"channels"
],
"info": {
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"video.width": 848,
"video.codec": "hevc",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
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}
},
"observation.images.right_color": {
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],
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],
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"video.fps": 30,
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"has_audio": false
}
},
"observation.images.head_camera": {
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3
],
"names": [
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],
"info": {
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"video.is_depth_map": false,
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"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
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],
"names": null
},
"frame_index": {
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],
"names": null
},
"episode_index": {
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],
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},
"index": {
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],
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},
"task_index": {
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],
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}
}
}