Download Real-Robot/_source/info.json from rooty2020/VP-WorldBench: direct link, hf CLI and curl.
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https://huggingface.co/datasets/rooty2020/VP-WorldBench/resolve/main/Real-Robot/_source/info.json
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hf download hf://datasets/rooty2020/VP-WorldBench/Real-Robot/_source/info.json
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curl -L -o info.json https://huggingface.co/datasets/rooty2020/VP-WorldBench/resolve/main/Real-Robot/_source/info.json
22.6 kB
| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "rby1m_wujihand2", | |
| "total_episodes": 100, | |
| "total_frames": 45464, | |
| "total_tasks": 1, | |
| "total_videos": 200, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:100" | |
| }, | |
| "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", | |
| "features": { | |
| "observation.images.camera_ego_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 720, | |
| 1280 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 720, | |
| "video.width": 1280, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.camera_exo_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 720, | |
| 1280 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.height": 720, | |
| "video.width": 1280, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.force_torque.force.right_arm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "info": { | |
| "sensor_type": "force_torque", | |
| "original_shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "axis" | |
| ], | |
| "axis_labels": { | |
| "axis": [ | |
| "x", | |
| "y", | |
| "z" | |
| ] | |
| } | |
| } | |
| }, | |
| "observation.force_torque.force.left_arm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "info": { | |
| "sensor_type": "force_torque", | |
| "original_shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "axis" | |
| ], | |
| "axis_labels": { | |
| "axis": [ | |
| "x", | |
| "y", | |
| "z" | |
| ] | |
| } | |
| } | |
| }, | |
| "observation.force_torque.torque.right_arm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "info": { | |
| "sensor_type": "force_torque", | |
| "original_shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "axis" | |
| ], | |
| "axis_labels": { | |
| "axis": [ | |
| "x", | |
| "y", | |
| "z" | |
| ] | |
| } | |
| } | |
| }, | |
| "observation.force_torque.torque.left_arm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "info": { | |
| "sensor_type": "force_torque", | |
| "original_shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "axis" | |
| ], | |
| "axis_labels": { | |
| "axis": [ | |
| "x", | |
| "y", | |
| "z" | |
| ] | |
| } | |
| } | |
| }, | |
| "observation.joint_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 66 | |
| ], | |
| "names": [ | |
| "wheel_fr", | |
| "wheel_fl", | |
| "wheel_rr", | |
| "wheel_rl", | |
| "torso_0", | |
| "torso_1", | |
| "torso_2", | |
| "torso_3", | |
| "torso_4", | |
| "torso_5", | |
| "right_arm_0", | |
| "right_arm_1", | |
| "right_arm_2", | |
| "right_arm_3", | |
| "right_arm_4", | |
| "right_arm_5", | |
| "right_arm_6", | |
| "right_thumb_cmc_flex", | |
| "right_thumb_cmc_abd", | |
| "right_thumb_mcp", | |
| "right_thumb_ip", | |
| "right_index_finger_mcp_flex", | |
| "right_index_finger_mcp_abd", | |
| "right_index_finger_pip", | |
| "right_index_finger_dip", | |
| "right_middle_finger_mcp_flex", | |
| "right_middle_finger_mcp_abd", | |
| "right_middle_finger_pip", | |
| "right_middle_finger_dip", | |
| "right_ring_finger_mcp_flex", | |
| "right_ring_finger_mcp_abd", | |
| "right_ring_finger_pip", | |
| "right_ring_finger_dip", | |
| "right_pinky_mcp_flex", | |
| "right_pinky_mcp_abd", | |
| "right_pinky_pip", | |
| "right_pinky_dip", | |
| "left_arm_0", | |
| "left_arm_1", | |
| "left_arm_2", | |
| "left_arm_3", | |
| "left_arm_4", | |
| "left_arm_5", | |
| "left_arm_6", | |
| "left_thumb_cmc_flex", | |
| "left_thumb_cmc_abd", | |
| "left_thumb_mcp", | |
| "left_thumb_ip", | |
| "left_index_finger_mcp_flex", | |
| "left_index_finger_mcp_abd", | |
| "left_index_finger_pip", | |
| "left_index_finger_dip", | |
| "left_middle_finger_mcp_flex", | |
| "left_middle_finger_mcp_abd", | |
| "left_middle_finger_pip", | |
| "left_middle_finger_dip", | |
| "left_ring_finger_mcp_flex", | |
| "left_ring_finger_mcp_abd", | |
| "left_ring_finger_pip", | |
| "left_ring_finger_dip", | |
| "left_pinky_mcp_flex", | |
| "left_pinky_mcp_abd", | |
| "left_pinky_pip", | |
| "left_pinky_dip", | |
| "head_0", | |
| "head_1" | |
| ] | |
| }, | |
| "observation.joint_effort": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 66 | |
| ], | |
| "names": [ | |
| "wheel_fr", | |
| "wheel_fl", | |
| "wheel_rr", | |
| "wheel_rl", | |
| "torso_0", | |
| "torso_1", | |
| "torso_2", | |
| "torso_3", | |
| "torso_4", | |
| "torso_5", | |
| "right_arm_0", | |
| "right_arm_1", | |
| "right_arm_2", | |
| "right_arm_3", | |
| "right_arm_4", | |
| "right_arm_5", | |
| "right_arm_6", | |
| "right_thumb_cmc_flex", | |
| "right_thumb_cmc_abd", | |
| "right_thumb_mcp", | |
| "right_thumb_ip", | |
| "right_index_finger_mcp_flex", | |
| "right_index_finger_mcp_abd", | |
| "right_index_finger_pip", | |
| "right_index_finger_dip", | |
| "right_middle_finger_mcp_flex", | |
| "right_middle_finger_mcp_abd", | |
| "right_middle_finger_pip", | |
| "right_middle_finger_dip", | |
| "right_ring_finger_mcp_flex", | |
| "right_ring_finger_mcp_abd", | |
| "right_ring_finger_pip", | |
| "right_ring_finger_dip", | |
| "right_pinky_mcp_flex", | |
| "right_pinky_mcp_abd", | |
| "right_pinky_pip", | |
| "right_pinky_dip", | |
| "left_arm_0", | |
| "left_arm_1", | |
| "left_arm_2", | |
| "left_arm_3", | |
| "left_arm_4", | |
| "left_arm_5", | |
| "left_arm_6", | |
| "left_thumb_cmc_flex", | |
| "left_thumb_cmc_abd", | |
| "left_thumb_mcp", | |
| "left_thumb_ip", | |
| "left_index_finger_mcp_flex", | |
| "left_index_finger_mcp_abd", | |
| "left_index_finger_pip", | |
| "left_index_finger_dip", | |
| "left_middle_finger_mcp_flex", | |
| "left_middle_finger_mcp_abd", | |
| "left_middle_finger_pip", | |
| "left_middle_finger_dip", | |
| "left_ring_finger_mcp_flex", | |
| "left_ring_finger_mcp_abd", | |
| "left_ring_finger_pip", | |
| "left_ring_finger_dip", | |
| "left_pinky_mcp_flex", | |
| "left_pinky_mcp_abd", | |
| "left_pinky_pip", | |
| "left_pinky_dip", | |
| "head_0", | |
| "head_1" | |
| ] | |
| }, | |
| "observation.joint_velocity": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 66 | |
| ], | |
| "names": [ | |
| "wheel_fr", | |
| "wheel_fl", | |
| "wheel_rr", | |
| "wheel_rl", | |
| "torso_0", | |
| "torso_1", | |
| "torso_2", | |
| "torso_3", | |
| "torso_4", | |
| "torso_5", | |
| "right_arm_0", | |
| "right_arm_1", | |
| "right_arm_2", | |
| "right_arm_3", | |
| "right_arm_4", | |
| "right_arm_5", | |
| "right_arm_6", | |
| "right_thumb_cmc_flex", | |
| "right_thumb_cmc_abd", | |
| "right_thumb_mcp", | |
| "right_thumb_ip", | |
| "right_index_finger_mcp_flex", | |
| "right_index_finger_mcp_abd", | |
| "right_index_finger_pip", | |
| "right_index_finger_dip", | |
| "right_middle_finger_mcp_flex", | |
| "right_middle_finger_mcp_abd", | |
| "right_middle_finger_pip", | |
| "right_middle_finger_dip", | |
| "right_ring_finger_mcp_flex", | |
| "right_ring_finger_mcp_abd", | |
| "right_ring_finger_pip", | |
| "right_ring_finger_dip", | |
| "right_pinky_mcp_flex", | |
| "right_pinky_mcp_abd", | |
| "right_pinky_pip", | |
| "right_pinky_dip", | |
| "left_arm_0", | |
| "left_arm_1", | |
| "left_arm_2", | |
| "left_arm_3", | |
| "left_arm_4", | |
| "left_arm_5", | |
| "left_arm_6", | |
| "left_thumb_cmc_flex", | |
| "left_thumb_cmc_abd", | |
| "left_thumb_mcp", | |
| "left_thumb_ip", | |
| "left_index_finger_mcp_flex", | |
| "left_index_finger_mcp_abd", | |
| "left_index_finger_pip", | |
| "left_index_finger_dip", | |
| "left_middle_finger_mcp_flex", | |
| "left_middle_finger_mcp_abd", | |
| "left_middle_finger_pip", | |
| "left_middle_finger_dip", | |
| "left_ring_finger_mcp_flex", | |
| "left_ring_finger_mcp_abd", | |
| "left_ring_finger_pip", | |
| "left_ring_finger_dip", | |
| "left_pinky_mcp_flex", | |
| "left_pinky_mcp_abd", | |
| "left_pinky_pip", | |
| "left_pinky_dip", | |
| "head_0", | |
| "head_1" | |
| ] | |
| }, | |
| "observation.cam_frame_left_wrt_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "r00", | |
| "r01", | |
| "r02", | |
| "r10", | |
| "r11", | |
| "r12" | |
| ] | |
| }, | |
| "observation.cam_frame_right_wrt_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "r00", | |
| "r01", | |
| "r02", | |
| "r10", | |
| "r11", | |
| "r12" | |
| ] | |
| }, | |
| "observation.left_wrist_wrt_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "r00", | |
| "r01", | |
| "r02", | |
| "r10", | |
| "r11", | |
| "r12" | |
| ] | |
| }, | |
| "observation.right_wrist_wrt_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "r00", | |
| "r01", | |
| "r02", | |
| "r10", | |
| "r11", | |
| "r12" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 66 | |
| ], | |
| "names": [ | |
| "wheel_fr", | |
| "wheel_fl", | |
| "wheel_rr", | |
| "wheel_rl", | |
| "torso_0", | |
| "torso_1", | |
| "torso_2", | |
| "torso_3", | |
| "torso_4", | |
| "torso_5", | |
| "right_arm_0", | |
| "right_arm_1", | |
| "right_arm_2", | |
| "right_arm_3", | |
| "right_arm_4", | |
| "right_arm_5", | |
| "right_arm_6", | |
| "right_thumb_cmc_flex", | |
| "right_thumb_cmc_abd", | |
| "right_thumb_mcp", | |
| "right_thumb_ip", | |
| "right_index_finger_mcp_flex", | |
| "right_index_finger_mcp_abd", | |
| "right_index_finger_pip", | |
| "right_index_finger_dip", | |
| "right_middle_finger_mcp_flex", | |
| "right_middle_finger_mcp_abd", | |
| "right_middle_finger_pip", | |
| "right_middle_finger_dip", | |
| "right_ring_finger_mcp_flex", | |
| "right_ring_finger_mcp_abd", | |
| "right_ring_finger_pip", | |
| "right_ring_finger_dip", | |
| "right_pinky_mcp_flex", | |
| "right_pinky_mcp_abd", | |
| "right_pinky_pip", | |
| "right_pinky_dip", | |
| "left_arm_0", | |
| "left_arm_1", | |
| "left_arm_2", | |
| "left_arm_3", | |
| "left_arm_4", | |
| "left_arm_5", | |
| "left_arm_6", | |
| "left_thumb_cmc_flex", | |
| "left_thumb_cmc_abd", | |
| "left_thumb_mcp", | |
| "left_thumb_ip", | |
| "left_index_finger_mcp_flex", | |
| "left_index_finger_mcp_abd", | |
| "left_index_finger_pip", | |
| "left_index_finger_dip", | |
| "left_middle_finger_mcp_flex", | |
| "left_middle_finger_mcp_abd", | |
| "left_middle_finger_pip", | |
| "left_middle_finger_dip", | |
| "left_ring_finger_mcp_flex", | |
| "left_ring_finger_mcp_abd", | |
| "left_ring_finger_pip", | |
| "left_ring_finger_dip", | |
| "left_pinky_mcp_flex", | |
| "left_pinky_mcp_abd", | |
| "left_pinky_pip", | |
| "left_pinky_dip", | |
| "head_0", | |
| "head_1" | |
| ] | |
| }, | |
| "action.mobile_base.planar_twist": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "linear_x", | |
| "linear_y", | |
| "angular_z" | |
| ], | |
| "info": { | |
| "component": "mobile_base", | |
| "kind": "planar_twist", | |
| "target_frame": "base", | |
| "reference_frame": "base" | |
| } | |
| }, | |
| "action.pre_filter": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 66 | |
| ], | |
| "names": [ | |
| "wheel_fr", | |
| "wheel_fl", | |
| "wheel_rr", | |
| "wheel_rl", | |
| "torso_0", | |
| "torso_1", | |
| "torso_2", | |
| "torso_3", | |
| "torso_4", | |
| "torso_5", | |
| "right_arm_0", | |
| "right_arm_1", | |
| "right_arm_2", | |
| "right_arm_3", | |
| "right_arm_4", | |
| "right_arm_5", | |
| "right_arm_6", | |
| "right_thumb_cmc_flex", | |
| "right_thumb_cmc_abd", | |
| "right_thumb_mcp", | |
| "right_thumb_ip", | |
| "right_index_finger_mcp_flex", | |
| "right_index_finger_mcp_abd", | |
| "right_index_finger_pip", | |
| "right_index_finger_dip", | |
| "right_middle_finger_mcp_flex", | |
| "right_middle_finger_mcp_abd", | |
| "right_middle_finger_pip", | |
| "right_middle_finger_dip", | |
| "right_ring_finger_mcp_flex", | |
| "right_ring_finger_mcp_abd", | |
| "right_ring_finger_pip", | |
| "right_ring_finger_dip", | |
| "right_pinky_mcp_flex", | |
| "right_pinky_mcp_abd", | |
| "right_pinky_pip", | |
| "right_pinky_dip", | |
| "left_arm_0", | |
| "left_arm_1", | |
| "left_arm_2", | |
| "left_arm_3", | |
| "left_arm_4", | |
| "left_arm_5", | |
| "left_arm_6", | |
| "left_thumb_cmc_flex", | |
| "left_thumb_cmc_abd", | |
| "left_thumb_mcp", | |
| "left_thumb_ip", | |
| "left_index_finger_mcp_flex", | |
| "left_index_finger_mcp_abd", | |
| "left_index_finger_pip", | |
| "left_index_finger_dip", | |
| "left_middle_finger_mcp_flex", | |
| "left_middle_finger_mcp_abd", | |
| "left_middle_finger_pip", | |
| "left_middle_finger_dip", | |
| "left_ring_finger_mcp_flex", | |
| "left_ring_finger_mcp_abd", | |
| "left_ring_finger_pip", | |
| "left_ring_finger_dip", | |
| "left_pinky_mcp_flex", | |
| "left_pinky_mcp_abd", | |
| "left_pinky_pip", | |
| "left_pinky_dip", | |
| "head_0", | |
| "head_1" | |
| ] | |
| }, | |
| "action.filter_applied": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 66 | |
| ], | |
| "names": [ | |
| "wheel_fr", | |
| "wheel_fl", | |
| "wheel_rr", | |
| "wheel_rl", | |
| "torso_0", | |
| "torso_1", | |
| "torso_2", | |
| "torso_3", | |
| "torso_4", | |
| "torso_5", | |
| "right_arm_0", | |
| "right_arm_1", | |
| "right_arm_2", | |
| "right_arm_3", | |
| "right_arm_4", | |
| "right_arm_5", | |
| "right_arm_6", | |
| "right_thumb_cmc_flex", | |
| "right_thumb_cmc_abd", | |
| "right_thumb_mcp", | |
| "right_thumb_ip", | |
| "right_index_finger_mcp_flex", | |
| "right_index_finger_mcp_abd", | |
| "right_index_finger_pip", | |
| "right_index_finger_dip", | |
| "right_middle_finger_mcp_flex", | |
| "right_middle_finger_mcp_abd", | |
| "right_middle_finger_pip", | |
| "right_middle_finger_dip", | |
| "right_ring_finger_mcp_flex", | |
| "right_ring_finger_mcp_abd", | |
| "right_ring_finger_pip", | |
| "right_ring_finger_dip", | |
| "right_pinky_mcp_flex", | |
| "right_pinky_mcp_abd", | |
| "right_pinky_pip", | |
| "right_pinky_dip", | |
| "left_arm_0", | |
| "left_arm_1", | |
| "left_arm_2", | |
| "left_arm_3", | |
| "left_arm_4", | |
| "left_arm_5", | |
| "left_arm_6", | |
| "left_thumb_cmc_flex", | |
| "left_thumb_cmc_abd", | |
| "left_thumb_mcp", | |
| "left_thumb_ip", | |
| "left_index_finger_mcp_flex", | |
| "left_index_finger_mcp_abd", | |
| "left_index_finger_pip", | |
| "left_index_finger_dip", | |
| "left_middle_finger_mcp_flex", | |
| "left_middle_finger_mcp_abd", | |
| "left_middle_finger_pip", | |
| "left_middle_finger_dip", | |
| "left_ring_finger_mcp_flex", | |
| "left_ring_finger_mcp_abd", | |
| "left_ring_finger_pip", | |
| "left_ring_finger_dip", | |
| "left_pinky_mcp_flex", | |
| "left_pinky_mcp_abd", | |
| "left_pinky_pip", | |
| "left_pinky_dip", | |
| "head_0", | |
| "head_1" | |
| ] | |
| }, | |
| "next.success": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "next.truncated": { | |
| "dtype": "bool", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
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| ], | |
| "names": null | |
| }, | |
| "index": { | |
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| ], | |
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| }, | |
| "task_index": { | |
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| ], | |
| "names": null | |
| } | |
| } | |
| } | |