base-inf_v21 / meta /info.json
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{
"codebase_version": "v2.1",
"fps": 30,
"features": {
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"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
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"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
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"is_depth_map": false
}
},
"observation.images.wrist": {
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224,
224,
3
],
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],
"info": {
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"video.video_backend": "pyav",
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}
},
"observation.state": {
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"shape": [
7
],
"names": [
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"position.joint_1",
"position.joint_2",
"position.joint_3",
"position.joint_4",
"position.joint_5",
"position.left_carriage_joint"
]
},
"observation.effort": {
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7
],
"names": [
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"effort.joint_1",
"effort.joint_2",
"effort.joint_3",
"effort.joint_4",
"effort.joint_5",
"effort.left_carriage_joint"
]
},
"observation.base_odom": {
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"shape": [
6
],
"names": [
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"pose.pose.position.y",
"pose.pose.orientation.z",
"pose.pose.orientation.w",
"twist.twist.linear.x",
"twist.twist.angular.z"
]
},
"action": {
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],
"names": [
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"arm_controller.position.joint_1",
"arm_controller.position.joint_2",
"arm_controller.position.joint_3",
"arm_controller.position.joint_4",
"arm_controller.position.joint_5",
"gripper_controller.gripper",
"cmd_vel.linear.x",
"cmd_vel.angular.z"
]
},
"is_first": {
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1
],
"names": null
},
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},
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},
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},
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},
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},
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},
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}
},
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"total_frames": 67560,
"total_tasks": 1,
"chunks_size": 1000,
"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",
"robot_type": "widowxai",
"splits": {
"train": "0:31"
},
"total_chunks": 1,
"total_videos": 62
}