Download meta/info.json from aiyi1/test: direct link, hf CLI and curl.
- Browser
- Download file 11 kB
-
https://huggingface.co/datasets/aiyi1/test/resolve/main/meta/info.json
- Command line
-
hf download hf://datasets/aiyi1/test/meta/info.json
-
curl -L -o info.json https://huggingface.co/datasets/aiyi1/test/resolve/main/meta/info.json
11 kB
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "Franka", | |
| "total_episodes": 578, | |
| "total_frames": 140157, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:578" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", | |
| "features": { | |
| "images.rgb.head": { | |
| "dtype": "video", | |
| "shape": [ | |
| 360, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 360, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "images.rgb.hand": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "head_camera_intrinsics": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ], | |
| "names": [ | |
| "fx", | |
| "fy", | |
| "cx", | |
| "cy" | |
| ], | |
| "fps": 30 | |
| }, | |
| "hand_camera_intrinsics": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ], | |
| "names": [ | |
| "fx", | |
| "fy", | |
| "cx", | |
| "cy" | |
| ], | |
| "fps": 30 | |
| }, | |
| "head_camera_to_robot_extrinsics": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "hand_camera_to_robot_extrinsics": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "states.joint.position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ], | |
| "fps": 30 | |
| }, | |
| "states.gripper.position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_0" | |
| ], | |
| "fps": 30 | |
| }, | |
| "states.gripper.pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ], | |
| "fps": 30 | |
| }, | |
| "states.ee_to_armbase_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "states.ee_to_robot_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "states.tcp_to_armbase_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "states.tcp_to_robot_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "states.robot_to_env_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "actions.joint.position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ], | |
| "fps": 30 | |
| }, | |
| "actions.gripper.position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_0" | |
| ], | |
| "fps": 30 | |
| }, | |
| "actions.gripper.openness": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_0" | |
| ], | |
| "fps": 30 | |
| }, | |
| "actions.gripper.pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ], | |
| "fps": 30 | |
| }, | |
| "actions.ee_to_armbase_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "actions.ee_to_robot_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "actions.tcp_to_armbase_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "actions.tcp_to_robot_pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "position.x", | |
| "position.y", | |
| "position.z", | |
| "quaternion.w", | |
| "quaternion.x", | |
| "quaternion.y", | |
| "quaternion.z" | |
| ], | |
| "fps": 30 | |
| }, | |
| "master_actions.joint.position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ], | |
| "fps": 30 | |
| }, | |
| "master_actions.gripper.position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_0" | |
| ], | |
| "fps": 30 | |
| }, | |
| "master_actions.gripper.openness": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_0" | |
| ], | |
| "fps": 30 | |
| }, | |
| "master_actions.gripper.pose": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ], | |
| "fps": 30 | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30 | |
| } | |
| }, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200 | |
| } |