data_grapes / meta /info.json
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{
"codebase_version": "v2.0",
"robot_type": "fr5",
"total_episodes": 100,
"total_frames": 120000,
"fps": 30.00622973375114,
"chunks_size": 1000,
"total_tasks": 1,
"cameras": [
"observation.images.cam_base",
"observation.images.cam_wrist"
],
"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",
"video_pattern": "videos/chunk-000/{camera}/episode_{episode_index:06d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
[
"base",
"shoulder",
"elbow",
"wrist_1",
"wrist_2",
"wrist_3",
"gripper"
]
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
[
"base",
"shoulder",
"elbow",
"wrist_1",
"wrist_2",
"wrist_3",
"gripper"
]
]
},
"observation.velocity": {
"dtype": "float32",
"shape": [
7
]
},
"observation.effort": {
"dtype": "float32",
"shape": [
7
]
},
"observation.weight": {
"dtype": "float32",
"shape": [
1
]
},
"observation.images.cam_base": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "mpeg4",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "mpeg4",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
}
}
}