bds_small_0806 / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "VR_C2",
"total_episodes": 179,
"total_frames": 51558,
"total_tasks": 1,
"total_videos": 716,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:179"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
24
],
"names": {
"displacement": [
"left_wheel_joint",
"right_wheel_joint",
"lower_column_pitch_joint",
"mid_column_pitch_joint",
"upper_column_pitch_joint",
"waist_yaw_joint",
"left_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"left_elbow_pitch_joint",
"left_wrist_yaw_joint",
"left_wrist_roll_joint",
"left_wrist_pitch_joint",
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_elbow_pitch_joint",
"right_wrist_yaw_joint",
"right_wrist_roll_joint",
"right_wrist_pitch_joint",
"head_yaw_joint",
"head_pitch_joint",
"L_left_driver_joint",
"R_left_driver_joint"
]
}
},
"observation.state": {
"dtype": "float32",
"shape": [
72
],
"names": {
"displacement": [
"left_wheel_joint",
"right_wheel_joint",
"lower_column_pitch_joint",
"mid_column_pitch_joint",
"upper_column_pitch_joint",
"waist_yaw_joint",
"left_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"left_elbow_pitch_joint",
"left_wrist_yaw_joint",
"left_wrist_roll_joint",
"left_wrist_pitch_joint",
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_elbow_pitch_joint",
"right_wrist_yaw_joint",
"right_wrist_roll_joint",
"right_wrist_pitch_joint",
"head_yaw_joint",
"head_pitch_joint",
"L_left_driver_joint",
"R_left_driver_joint"
]
}
},
"observation.velocity": {
"dtype": "float32",
"shape": [
24
],
"names": {
"displacement": [
"left_wheel_joint",
"right_wheel_joint",
"lower_column_pitch_joint",
"mid_column_pitch_joint",
"upper_column_pitch_joint",
"waist_yaw_joint",
"left_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"left_elbow_pitch_joint",
"left_wrist_yaw_joint",
"left_wrist_roll_joint",
"left_wrist_pitch_joint",
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_elbow_pitch_joint",
"right_wrist_yaw_joint",
"right_wrist_roll_joint",
"right_wrist_pitch_joint",
"head_yaw_joint",
"head_pitch_joint",
"L_left_driver_joint",
"R_left_driver_joint"
]
}
},
"observation.effort": {
"dtype": "float32",
"shape": [
24
],
"names": {
"displacement": [
"left_wheel_joint",
"right_wheel_joint",
"lower_column_pitch_joint",
"mid_column_pitch_joint",
"upper_column_pitch_joint",
"waist_yaw_joint",
"left_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"left_elbow_pitch_joint",
"left_wrist_yaw_joint",
"left_wrist_roll_joint",
"left_wrist_pitch_joint",
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_elbow_pitch_joint",
"right_wrist_yaw_joint",
"right_wrist_roll_joint",
"right_wrist_pitch_joint",
"head_yaw_joint",
"head_pitch_joint",
"L_left_driver_joint",
"R_left_driver_joint"
]
}
},
"observation.imu.orientation": {
"dtype": "float32",
"shape": [
4
],
"names": {
"displacement": [
"qx",
"qy",
"qz",
"qw"
]
}
},
"observation.imu.angular_velocity": {
"dtype": "float32",
"shape": [
3
],
"names": {
"displacement": [
"wx",
"wy",
"wz"
]
}
},
"observation.imu.linear_acceleration": {
"dtype": "float32",
"shape": [
3
],
"names": {
"displacement": [
"ax",
"ay",
"az"
]
}
},
"observation.images.color.head": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 25,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.color.head_right": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 600,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 25,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.color.left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 25,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.color.right": {
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"shape": [
480,
640,
3
],
"names": [
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"width",
"channels"
],
"info": {
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"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 25,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
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"shape": [
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],
"names": null
},
"frame_index": {
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],
"names": null
},
"episode_index": {
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],
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},
"index": {
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],
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},
"task_index": {
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],
"names": null
}
}
}