GraspBox-Sample / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "panda_wristcam",
"total_episodes": 6,
"total_frames": 1593,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:6"
},
"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.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
[
"panda_joint1",
"panda_joint2",
"panda_joint3",
"panda_joint4",
"panda_joint5",
"panda_joint6",
"panda_joint7",
"panda_finger_joint1",
"panda_finger_joint2"
]
]
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
[
"panda_joint1",
"panda_joint2",
"panda_joint3",
"panda_joint4",
"panda_joint5",
"panda_joint6",
"panda_joint7",
"panda_finger"
]
]
},
"observation.box.pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
[
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
]
},
"observation.images.base_camera": {
"dtype": "image",
"shape": [
3,
256,
256
],
"names": [
"channels",
"height",
"width"
]
},
"observation.depth.base_camera": {
"dtype": "image",
"shape": [
1,
256,
256
],
"names": [
"channels",
"height",
"width"
]
},
"sensors.base_camera.extrinsic_cv": {
"dtype": "float32",
"shape": [
3,
4
],
"names": [
"extrinsic_cv"
]
},
"sensors.base_camera.intrinsic_cv": {
"dtype": "float32",
"shape": [
3,
3
],
"names": [
"intrinsic_cv"
]
},
"sensors.base_camera.cam2world_gl": {
"dtype": "float32",
"shape": [
4,
4
],
"names": [
"cam2world_gl"
]
},
"observation.images.hand_camera": {
"dtype": "image",
"shape": [
3,
256,
256
],
"names": [
"channels",
"height",
"width"
]
},
"observation.depth.hand_camera": {
"dtype": "image",
"shape": [
1,
256,
256
],
"names": [
"channels",
"height",
"width"
]
},
"sensors.hand_camera.extrinsic_cv": {
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"shape": [
3,
4
],
"names": [
"extrinsic_cv"
]
},
"sensors.hand_camera.intrinsic_cv": {
"dtype": "float32",
"shape": [
3,
3
],
"names": [
"intrinsic_cv"
]
},
"sensors.hand_camera.cam2world_gl": {
"dtype": "float32",
"shape": [
4,
4
],
"names": [
"cam2world_gl"
]
},
"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
}
}
}