open_bottle / meta /info.json
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{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 9,
"total_frames": 28766,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:9"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
28
],
"names": [
"left_ee_x",
"left_ee_y",
"left_ee_z",
"left_ee_qx",
"left_ee_qy",
"left_ee_qz",
"left_ee_qw",
"left_gripper_state",
"left_force_x",
"left_force_y",
"left_force_z",
"left_tau_x",
"left_tau_y",
"left_tau_z",
"right_ee_x",
"right_ee_y",
"right_ee_z",
"right_ee_qx",
"right_ee_qy",
"right_ee_qz",
"right_ee_qw",
"right_gripper_state",
"right_force_x",
"right_force_y",
"right_force_z",
"right_tau_x",
"right_tau_y",
"right_tau_z"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_ee_vx",
"left_ee_vy",
"left_ee_vz",
"left_ee_wx",
"left_ee_wy",
"left_ee_wz",
"left_gripper_cmd",
"right_ee_vx",
"right_ee_vy",
"right_ee_vz",
"right_ee_wx",
"right_ee_wy",
"right_ee_wz",
"right_gripper_cmd"
]
},
"observation.images.camera_left": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.camera_right": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.height": 224,
"video.width": 224,
"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": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}