aya-s commited on
Commit
ffd7bbb
·
verified ·
1 Parent(s): 4f92865

Upload LeRobot v3 dataset from lerobot_v3_Test_episode_Studio2_1784114591 (3/9)

Browse files
Files changed (1) hide show
  1. meta/info.json +223 -0
meta/info.json ADDED
@@ -0,0 +1,223 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
4
+ "features": {
5
+ "observation.state": {
6
+ "dtype": "float32",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.ee_pose": {
12
+ "dtype": "float32",
13
+ "shape": [
14
+ 6
15
+ ],
16
+ "names": [
17
+ "x",
18
+ "y",
19
+ "z",
20
+ "rx",
21
+ "ry",
22
+ "rz"
23
+ ]
24
+ },
25
+ "observation.ee_force_torque": {
26
+ "dtype": "float32",
27
+ "shape": [
28
+ 6
29
+ ],
30
+ "names": [
31
+ "Fx",
32
+ "Fy",
33
+ "Fz",
34
+ "Tx",
35
+ "Ty",
36
+ "Tz"
37
+ ]
38
+ },
39
+ "action": {
40
+ "dtype": "float32",
41
+ "shape": [
42
+ 8
43
+ ]
44
+ },
45
+ "observation.images.workspace_front": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.fps": 30,
63
+ "video.channels": 3,
64
+ "has_audio": false,
65
+ "video.g": 2,
66
+ "video.crf": 30,
67
+ "video.preset": 12,
68
+ "video.fast_decode": 0,
69
+ "video.video_backend": "pyav",
70
+ "video.extra_options": {},
71
+ "is_depth_map": false
72
+ }
73
+ },
74
+ "observation.images.workspace_side": {
75
+ "dtype": "video",
76
+ "shape": [
77
+ 480,
78
+ 640,
79
+ 3
80
+ ],
81
+ "names": [
82
+ "height",
83
+ "width",
84
+ "channels"
85
+ ],
86
+ "info": {
87
+ "video.height": 480,
88
+ "video.width": 640,
89
+ "video.codec": "av1",
90
+ "video.pix_fmt": "yuv420p",
91
+ "video.fps": 30,
92
+ "video.channels": 3,
93
+ "has_audio": false,
94
+ "video.g": 2,
95
+ "video.crf": 30,
96
+ "video.preset": 12,
97
+ "video.fast_decode": 0,
98
+ "video.video_backend": "pyav",
99
+ "video.extra_options": {},
100
+ "is_depth_map": false
101
+ }
102
+ },
103
+ "observation.images.workspace_front_depth": {
104
+ "dtype": "video",
105
+ "shape": [
106
+ 480,
107
+ 640,
108
+ 1
109
+ ],
110
+ "names": [
111
+ "height",
112
+ "width",
113
+ "channels"
114
+ ],
115
+ "info": {
116
+ "is_depth_map": true,
117
+ "depth_unit": "mm",
118
+ "video.height": 480,
119
+ "video.width": 640,
120
+ "video.codec": "hevc",
121
+ "video.pix_fmt": "gray12le",
122
+ "video.fps": 30,
123
+ "video.channels": 1,
124
+ "has_audio": false,
125
+ "video.g": 2,
126
+ "video.crf": 30,
127
+ "video.preset": null,
128
+ "video.fast_decode": 0,
129
+ "video.video_backend": "pyav",
130
+ "video.extra_options": {
131
+ "x265-params": "lossless=1"
132
+ },
133
+ "video.depth_min": 0.05,
134
+ "video.depth_max": 2.0,
135
+ "video.shift": 3.5,
136
+ "video.use_log": true
137
+ }
138
+ },
139
+ "observation.images.workspace_side_depth": {
140
+ "dtype": "video",
141
+ "shape": [
142
+ 480,
143
+ 640,
144
+ 1
145
+ ],
146
+ "names": [
147
+ "height",
148
+ "width",
149
+ "channels"
150
+ ],
151
+ "info": {
152
+ "is_depth_map": true,
153
+ "depth_unit": "mm",
154
+ "video.height": 480,
155
+ "video.width": 640,
156
+ "video.codec": "hevc",
157
+ "video.pix_fmt": "gray12le",
158
+ "video.fps": 30,
159
+ "video.channels": 1,
160
+ "has_audio": false,
161
+ "video.g": 2,
162
+ "video.crf": 30,
163
+ "video.preset": null,
164
+ "video.fast_decode": 0,
165
+ "video.video_backend": "pyav",
166
+ "video.extra_options": {
167
+ "x265-params": "lossless=1"
168
+ },
169
+ "video.depth_min": 0.05,
170
+ "video.depth_max": 2.0,
171
+ "video.shift": 3.5,
172
+ "video.use_log": true
173
+ }
174
+ },
175
+ "timestamp": {
176
+ "dtype": "float32",
177
+ "shape": [
178
+ 1
179
+ ],
180
+ "names": null
181
+ },
182
+ "frame_index": {
183
+ "dtype": "int64",
184
+ "shape": [
185
+ 1
186
+ ],
187
+ "names": null
188
+ },
189
+ "episode_index": {
190
+ "dtype": "int64",
191
+ "shape": [
192
+ 1
193
+ ],
194
+ "names": null
195
+ },
196
+ "index": {
197
+ "dtype": "int64",
198
+ "shape": [
199
+ 1
200
+ ],
201
+ "names": null
202
+ },
203
+ "task_index": {
204
+ "dtype": "int64",
205
+ "shape": [
206
+ 1
207
+ ],
208
+ "names": null
209
+ }
210
+ },
211
+ "total_episodes": 1,
212
+ "total_frames": 201,
213
+ "total_tasks": 1,
214
+ "chunks_size": 1000,
215
+ "data_files_size_in_mb": 100,
216
+ "video_files_size_in_mb": 200,
217
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
218
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
219
+ "robot_type": null,
220
+ "splits": {
221
+ "train": "0:1"
222
+ }
223
+ }