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{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 12,
"total_frames": 35452,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:12"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"robot/left_waist",
"robot/left_shoulder",
"robot/left_elbow",
"robot/left_forearm_roll",
"robot/left_wrist_angle",
"robot/left_wrist_rotate",
"robot/left_left_finger",
"robot/left_right_finger",
"robot/right_waist",
"robot/right_shoulder",
"robot/right_elbow",
"robot/right_forearm_roll",
"robot/right_wrist_angle",
"robot/right_wrist_rotate",
"robot/right_left_finger",
"robot/right_right_finger"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"bimanual_insertion_peg_px",
"bimanual_insertion_peg_py",
"bimanual_insertion_peg_pz",
"bimanual_insertion_peg_qw",
"bimanual_insertion_peg_qx",
"bimanual_insertion_peg_qy",
"bimanual_insertion_peg_qz",
"bimanual_insertion_hole3_px",
"bimanual_insertion_hole3_py",
"bimanual_insertion_hole3_pz",
"bimanual_insertion_hole3_qw",
"bimanual_insertion_hole3_qx",
"bimanual_insertion_hole3_qy",
"bimanual_insertion_hole3_qz"
]
},
"observation.qvel": {
"dtype": "float32",
"shape": [
16
],
"names": [
"robot/left_waist",
"robot/left_shoulder",
"robot/left_elbow",
"robot/left_forearm_roll",
"robot/left_wrist_angle",
"robot/left_wrist_rotate",
"robot/left_left_finger",
"robot/left_right_finger",
"robot/right_waist",
"robot/right_shoulder",
"robot/right_elbow",
"robot/right_forearm_roll",
"robot/right_wrist_angle",
"robot/right_wrist_rotate",
"robot/right_left_finger",
"robot/right_right_finger"
]
},
"observation.env_qvel": {
"dtype": "float32",
"shape": [
12
],
"names": [
"bimanual_insertion_peg_vx",
"bimanual_insertion_peg_vy",
"bimanual_insertion_peg_vz",
"bimanual_insertion_peg_wx",
"bimanual_insertion_peg_wy",
"bimanual_insertion_peg_wz",
"bimanual_insertion_hole3_vx",
"bimanual_insertion_hole3_vy",
"bimanual_insertion_hole3_vz",
"bimanual_insertion_hole3_wx",
"bimanual_insertion_hole3_wy",
"bimanual_insertion_hole3_wz"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"robot/left_waist",
"robot/left_shoulder",
"robot/left_elbow",
"robot/left_forearm_roll",
"robot/left_wrist_angle",
"robot/left_wrist_rotate",
"robot/left_gripper",
"robot/right_waist",
"robot/right_shoulder",
"robot/right_elbow",
"robot/right_forearm_roll",
"robot/right_wrist_angle",
"robot/right_wrist_rotate",
"robot/right_gripper"
]
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"index": {
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1
],
"names": null
},
"task_index": {
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1
],
"names": null
}
}
}