test / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "VR_H5D",
"total_episodes": 2,
"total_frames": 1052,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:2"
},
"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": [
16
],
"names": {
"displacement": [
"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",
"left_vacuum",
"right_vacuum"
]
}
},
"observation.state": {
"dtype": "float32",
"shape": [
96
],
"names": {
"displacement": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_pitch_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_pitch_joint",
"right_ankle_pitch_joint",
"right_ankle_roll_joint",
"waist_yaw_joint",
"waist_roll_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",
"left_vacuum",
"right_vacuum",
"left_hip_pitch_joint_vel",
"left_hip_roll_joint_vel",
"left_hip_yaw_joint_vel",
"left_knee_pitch_joint_vel",
"left_ankle_pitch_joint_vel",
"left_ankle_roll_joint_vel",
"right_hip_pitch_joint_vel",
"right_hip_roll_joint_vel",
"right_hip_yaw_joint_vel",
"right_knee_pitch_joint_vel",
"right_ankle_pitch_joint_vel",
"right_ankle_roll_joint_vel",
"waist_yaw_joint_vel",
"waist_roll_joint_vel",
"left_shoulder_pitch_joint_vel",
"left_shoulder_roll_joint_vel",
"left_shoulder_yaw_joint_vel",
"left_elbow_pitch_joint_vel",
"left_wrist_yaw_joint_vel",
"left_wrist_roll_joint_vel",
"left_wrist_pitch_joint_vel",
"right_shoulder_pitch_joint_vel",
"right_shoulder_roll_joint_vel",
"right_shoulder_yaw_joint_vel",
"right_elbow_pitch_joint_vel",
"right_wrist_yaw_joint_vel",
"right_wrist_roll_joint_vel",
"right_wrist_pitch_joint_vel",
"head_yaw_joint_vel",
"head_pitch_joint_vel",
"left_vacuum_vel",
"right_vacuum_vel",
"left_hip_pitch_joint_eff",
"left_hip_roll_joint_eff",
"left_hip_yaw_joint_eff",
"left_knee_pitch_joint_eff",
"left_ankle_pitch_joint_eff",
"left_ankle_roll_joint_eff",
"right_hip_pitch_joint_eff",
"right_hip_roll_joint_eff",
"right_hip_yaw_joint_eff",
"right_knee_pitch_joint_eff",
"right_ankle_pitch_joint_eff",
"right_ankle_roll_joint_eff",
"waist_yaw_joint_eff",
"waist_roll_joint_eff",
"left_shoulder_pitch_joint_eff",
"left_shoulder_roll_joint_eff",
"left_shoulder_yaw_joint_eff",
"left_elbow_pitch_joint_eff",
"left_wrist_yaw_joint_eff",
"left_wrist_roll_joint_eff",
"left_wrist_pitch_joint_eff",
"right_shoulder_pitch_joint_eff",
"right_shoulder_roll_joint_eff",
"right_shoulder_yaw_joint_eff",
"right_elbow_pitch_joint_eff",
"right_wrist_yaw_joint_eff",
"right_wrist_roll_joint_eff",
"right_wrist_pitch_joint_eff",
"head_yaw_joint_eff",
"head_pitch_joint_eff",
"left_vacuum_eff",
"right_vacuum_eff"
]
}
},
"observation.velocity": {
"dtype": "float32",
"shape": [
32
],
"names": {
"displacement": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_pitch_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_pitch_joint",
"right_ankle_pitch_joint",
"right_ankle_roll_joint",
"waist_yaw_joint",
"waist_roll_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",
"left_vacuum",
"right_vacuum"
]
}
},
"observation.effort": {
"dtype": "float32",
"shape": [
32
],
"names": {
"displacement": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_pitch_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_pitch_joint",
"right_ankle_pitch_joint",
"right_ankle_roll_joint",
"waist_yaw_joint",
"waist_roll_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",
"left_vacuum",
"right_vacuum"
]
}
},
"observation.images.color.head": {
"dtype": "video",
"shape": [
480,
720,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 720,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 25,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.color.outside": {
"dtype": "video",
"shape": [
480,
720,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 720,
"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": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
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],
"names": null
}
}
}