sofias-world / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "yor",
"total_episodes": 12,
"total_frames": 172660,
"total_tasks": 1,
"total_videos": 36,
"total_chunks": 1,
"chunks_size": 100,
"fps": 30,
"splits": {
"train": "0:12"
},
"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": [
15
],
"names": [
"lj0",
"lj1",
"lj2",
"lj3",
"lj4",
"lj5",
"lj6",
"rj0",
"rj1",
"rj2",
"rj3",
"rj4",
"rj5",
"rj6",
"lift"
]
},
"action.left_ee": {
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"shape": [
7
],
"names": [
"qw",
"qx",
"qy",
"qz",
"x",
"y",
"z"
]
},
"action.right_ee": {
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"shape": [
7
],
"names": [
"qw",
"qx",
"qy",
"qz",
"x",
"y",
"z"
]
},
"action.gripper": {
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"shape": [
2
],
"names": [
"left_gripper",
"right_gripper"
]
},
"action.base_vel": {
"dtype": "float32",
"shape": [
3
],
"names": [
"vx",
"vy",
"omega"
]
},
"action.lift_cmd": {
"dtype": "float32",
"shape": [
1
],
"names": [
"lift_cmd"
]
},
"observation.images.zed": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 1280,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.fish0": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"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.fish1": {
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480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.height": 480,
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"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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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],
"names": null
},
"index": {
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],
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},
"task_index": {
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],
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}
}
}