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meta/info.json

@@ -1,94 +1,108 @@
 {
   "codebase_version": "v2.1",
-  "robot_type": "single_arm",
-  "total_episodes": 5,
-  "total_frames": 1380,
-  "total_tasks": 1,
-  "total_videos": 15,
-  "total_chunks": 1,
-  "chunks_size": 5,
-  "fps": 30.0,
-  "splits": {
-    "train": "0:1"
-  },
-  "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",
+  "dataset_name": "Shrugmaster_Bimanual_Manipulation",
+  "description": "Robot dataset: Shrugmaster_Bimanual_Manipulation",
+  "total_episodes": 3,
+  "total_frames": 1080,
+  "fps": 8.9,
   "features": {
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        1
-      ],
-      "names": [
-        "gripper"
-      ]
+    "observation": {
+      "state": {
+        "dtype": "float32",
+        "shape": [
+          34
+        ],
+        "names": [
+          "joint_0",
+          "joint_1",
+          "joint_2",
+          "joint_3",
+          "joint_4",
+          "joint_5",
+          "joint_6",
+          "joint_7",
+          "joint_8",
+          "joint_9",
+          "joint_10",
+          "joint_11",
+          "joint_12",
+          "joint_13",
+          "joint_14",
+          "joint_15",
+          "joint_16",
+          "joint_17",
+          "joint_18",
+          "joint_19",
+          "joint_20",
+          "joint_21",
+          "joint_22",
+          "joint_23",
+          "joint_24",
+          "joint_25",
+          "joint_26",
+          "joint_27",
+          "joint_28",
+          "joint_29",
+          "joint_30",
+          "joint_31",
+          "joint_32",
+          "joint_33"
+        ]
+      }
     },
     "action": {
       "dtype": "float32",
       "shape": [
-        1
+        34
       ],
       "names": [
-        "gripper"
+        "joint_0",
+        "joint_1",
+        "joint_2",
+        "joint_3",
+        "joint_4",
+        "joint_5",
+        "joint_6",
+        "joint_7",
+        "joint_8",
+        "joint_9",
+        "joint_10",
+        "joint_11",
+        "joint_12",
+        "joint_13",
+        "joint_14",
+        "joint_15",
+        "joint_16",
+        "joint_17",
+        "joint_18",
+        "joint_19",
+        "joint_20",
+        "joint_21",
+        "joint_22",
+        "joint_23",
+        "joint_24",
+        "joint_25",
+        "joint_26",
+        "joint_27",
+        "joint_28",
+        "joint_29",
+        "joint_30",
+        "joint_31",
+        "joint_32",
+        "joint_33"
       ]
-    },
-    "observation.images.robot_pose_data_test_video": {
-      "dtype": "video",
-      "shape": [
-        480,
-        640,
-        3
-      ],
-      "names": [
-        "height",
-        "width",
-        "channels"
-      ],
-      "info": {
-        "video.height": 480,
-        "video.width": 640,
-        "video.codec": "h264",
-        "video.pix_fmt": "yuv420p",
-        "video.is_depth_map": false,
-        "video.fps": 30.0,
-        "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
     }
-  }
+  },
+  "robot_type": "bimanual_arm",
+  "total_tasks": 1,
+  "total_videos": 9,
+  "total_chunks": 1,
+  "chunks_size": 3,
+  "splits": {
+    "train": [
+      0
+    ]
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.{camera_name}/episode_{episode_index:06d}.mp4"
 }