Gr00t_lerobot / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "xarm",
"total_episodes": 179,
"total_frames": 13700,
"total_tasks": 1,
"total_videos": 537,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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": {
"observation.images.back_image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 10.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 10.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 10.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float64",
"shape": [
8
],
"names": [
"x, y, z, qx, qy, qz, qw, gripper"
]
},
"action": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x, y, z, r, p, y, gripper"
]
},
"annotation.human.action.task_description": {
"dtype": "int64",
"shape": [
1
],
"names": [
"task"
]
},
"annotation.human.validity": {
"dtype": "int64",
"shape": [
1
],
"names": [
"validity"
]
},
"next.reward": {
"dtype": "float64",
"shape": [
1
],
"names": [
"reward"
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": [
"done"
]
},
"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
}
}
}