cluttered_grasp / meta /info.json
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{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
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],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"gripper",
"eef_x",
"eef_y",
"eef_z",
"eef_qx",
"eef_qy",
"eef_qz",
"eef_qw"
]
},
"action": {
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"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"gripper"
]
},
"grasp_state": {
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"shape": [
1
],
"names": [
"grasp_state"
]
},
"next.success": {
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"shape": [
1
],
"names": [
"next.success"
]
},
"next.done": {
"dtype": "float32",
"shape": [
1
],
"names": [
"next.done"
]
},
"observation.images.center_cam": {
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"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.tactile_L": {
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240,
320,
3
],
"names": [
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"width",
"channels"
],
"info": {
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"video.width": 320,
"video.codec": "av1",
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"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
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"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.tactile_R": {
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240,
320,
3
],
"names": [
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],
"info": {
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"video.g": 2,
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"video.video_backend": "pyav",
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}
},
"observation.images.center_cam_depth": {
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720,
1280,
1
],
"names": [
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"width",
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],
"info": {
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"depth_unit": "mm",
"video.depth_min": 0.2,
"video.depth_max": 1.0,
"video.shift": 3.5,
"video.use_log": true,
"video.vcodec": "hevc",
"video.pix_fmt": "gray12le",
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"video.width": 1280,
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"video.channels": 1,
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"video.g": 2,
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"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"x265-params": "lossless=1"
}
}
},
"timestamp": {
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],
"names": null
},
"frame_index": {
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"shape": [
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],
"names": null
},
"episode_index": {
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"shape": [
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],
"names": null
},
"index": {
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"shape": [
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],
"names": null
},
"task_index": {
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],
"names": null
}
},
"total_episodes": 103,
"total_frames": 21496,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "ur10_robotiq_2f140",
"splits": {
"train": "0:103"
}
}