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meta/info.json

@@ -1,108 +1,94 @@
 {
   "codebase_version": "v2.1",
-  "dataset_name": "Shrugmaster_Bimanual_Manipulation",
-  "description": "Robot dataset: Shrugmaster_Bimanual_Manipulation",
-  "total_episodes": 3,
-  "total_frames": 1080,
-  "fps": 8.9,
+  "robot_type": "single_arm",
+  "total_episodes": 4,
+  "total_frames": 1230,
+  "total_tasks": 1,
+  "total_videos": 12,
+  "total_chunks": 1,
+  "chunks_size": 4,
+  "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",
   "features": {
-    "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"
-        ]
-      }
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": [
+        "gripper"
+      ]
     },
     "action": {
       "dtype": "float32",
       "shape": [
-        34
+        1
       ],
       "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"
+        "gripper"
       ]
+    },
+    "observation.images.csv_mp4": {
+      "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"
+  }
 }