ur3-multiple-task / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "ur3",
"total_episodes": 255,
"total_frames": 212754,
"total_tasks": 5,
"total_videos": 510,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:255"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"tcp_x.vel",
"tcp_y.vel",
"tcp_z.vel",
"tcp_rx.vel",
"tcp_ry.vel",
"tcp_rz.vel",
"gripper.cmd"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
11
],
"names": [
"tcp_x.pos",
"tcp_y.pos",
"tcp_z.pos",
"tcp_r1x.pos",
"tcp_r1y.pos",
"tcp_r1z.pos",
"tcp_r2x.pos",
"tcp_r2y.pos",
"tcp_r2z.pos",
"gripper_left.pos",
"gripper_right.pos"
]
},
"observation.images.fixed": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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
}
},
"observation.images.cam_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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
}
},
"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
}
},
"repo_id": "zestcode5/ur3-multiple-task"
}