grasping_dataset_3 / meta /info.json
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{
"codebase_version": "v3.0",
"robot_type": "stringman",
"total_episodes": 56,
"total_frames": 16316,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:56"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
5
],
"names": [
"target_rel_pos_x",
"target_rel_pos_y",
"target_rel_pos_z",
"target_wrist_angle",
"target_finger_angle"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"target_rel_pos_x",
"target_rel_pos_y",
"target_rel_pos_z",
"target_wrist_angle",
"target_finger_angle",
"gripper_rel_pos_x",
"gripper_rel_pos_y",
"gripper_rel_pos_z",
"gripper_rot_0",
"gripper_rot_1",
"gripper_rot_2",
"gripper_rot_3",
"gripper_rot_4",
"gripper_rot_5",
"wrist_angle_sin",
"wrist_angle_cos"
]
},
"observation.images.gripper_camera": {
"dtype": "video",
"shape": [
384,
384,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 384,
"video.width": 384,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}