aic-data2 / meta /info.json
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{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 16,
"total_frames": 10517,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:16"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"features": {
"observation.images.left_camera": {
"dtype": "image",
"shape": [
256,
288,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.center_camera": {
"dtype": "image",
"shape": [
256,
288,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.right_camera": {
"dtype": "image",
"shape": [
256,
288,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
26
],
"names": [
"tcp_pose.position.x",
"tcp_pose.position.y",
"tcp_pose.position.z",
"tcp_pose.orientation.x",
"tcp_pose.orientation.y",
"tcp_pose.orientation.z",
"tcp_pose.orientation.w",
"tcp_velocity.linear.x",
"tcp_velocity.linear.y",
"tcp_velocity.linear.z",
"tcp_velocity.angular.x",
"tcp_velocity.angular.y",
"tcp_velocity.angular.z",
"tcp_error.x",
"tcp_error.y",
"tcp_error.z",
"tcp_error.rx",
"tcp_error.ry",
"tcp_error.rz",
"joint_positions.0",
"joint_positions.1",
"joint_positions.2",
"joint_positions.3",
"joint_positions.4",
"joint_positions.5",
"joint_positions.6"
]
},
"observation.wrench": {
"dtype": "float32",
"shape": [
6
],
"names": [
"force.x",
"force.y",
"force.z",
"torque.x",
"torque.y",
"torque.z"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"target_pose.position.x",
"target_pose.position.y",
"target_pose.position.z",
"target_pose.orientation.x",
"target_pose.orientation.y",
"target_pose.orientation.z",
"target_pose.orientation.w"
]
},
"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
}
}
}