Datasets:
Download I2RT_YAM_Box/meta/info.json from microsoft/BusyBox: direct link, hf CLI and curl.
- Browser
- Download file 9.93 kB
-
https://huggingface.co/datasets/microsoft/BusyBox/resolve/main/I2RT_YAM_Box/meta/info.json
- Command line
-
hf download hf://datasets/microsoft/BusyBox/I2RT_YAM_Box/meta/info.json
-
curl -L -o info.json https://huggingface.co/datasets/microsoft/BusyBox/resolve/main/I2RT_YAM_Box/meta/info.json
9.93 kB
| { | |
| "codebase_version": "v3.0", | |
| "fps": 30, | |
| "features": { | |
| "observation.images.cam_scene": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false, | |
| "video.preset": null, | |
| "video.crf": null, | |
| "video.extra_options": null, | |
| "video.fast_decode": null, | |
| "video.video_backend": "pyav", | |
| "video.g": null | |
| } | |
| }, | |
| "observation.images.cam_left_wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false, | |
| "video.preset": null, | |
| "video.crf": null, | |
| "video.extra_options": null, | |
| "video.fast_decode": null, | |
| "video.video_backend": "pyav", | |
| "video.g": null | |
| } | |
| }, | |
| "observation.images.cam_right_wrist": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false, | |
| "video.preset": null, | |
| "video.crf": null, | |
| "video.extra_options": null, | |
| "video.fast_decode": null, | |
| "video.video_backend": "pyav", | |
| "video.g": null | |
| } | |
| }, | |
| "observation.joint_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_waist", | |
| "left_shoulder", | |
| "left_elbow", | |
| "left_forearm_roll", | |
| "left_wrist_angle", | |
| "left_wrist_rotate", | |
| "left_gripper", | |
| "right_waist", | |
| "right_shoulder", | |
| "right_elbow", | |
| "right_forearm_roll", | |
| "right_wrist_angle", | |
| "right_wrist_rotate", | |
| "right_gripper" | |
| ] | |
| } | |
| }, | |
| "observation.eef_pos_rpy": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_x", | |
| "left_y", | |
| "left_z", | |
| "left_roll", | |
| "left_pitch", | |
| "left_yaw", | |
| "left_gripper", | |
| "right_x", | |
| "right_y", | |
| "right_z", | |
| "right_roll", | |
| "right_pitch", | |
| "right_yaw", | |
| "right_gripper" | |
| ] | |
| } | |
| }, | |
| "observation.eef_pos_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 16 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_x", | |
| "left_y", | |
| "left_z", | |
| "left_qx", | |
| "left_qy", | |
| "left_qz", | |
| "left_qw", | |
| "left_gripper", | |
| "right_x", | |
| "right_y", | |
| "right_z", | |
| "right_qx", | |
| "right_qy", | |
| "right_qz", | |
| "right_qw", | |
| "right_gripper" | |
| ] | |
| } | |
| }, | |
| "observation.eef_pos_6d": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 20 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_x", | |
| "left_y", | |
| "left_z", | |
| "left_r1_x", | |
| "left_r1_y", | |
| "left_r1_z", | |
| "left_r2_x", | |
| "left_r2_y", | |
| "left_r2_z", | |
| "left_gripper", | |
| "right_x", | |
| "right_y", | |
| "right_z", | |
| "right_r1_x", | |
| "right_r1_y", | |
| "right_r1_z", | |
| "right_r2_x", | |
| "right_r2_y", | |
| "right_r2_z", | |
| "right_gripper" | |
| ] | |
| } | |
| }, | |
| "action.joint_position": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_waist", | |
| "left_shoulder", | |
| "left_elbow", | |
| "left_forearm_roll", | |
| "left_wrist_angle", | |
| "left_wrist_rotate", | |
| "left_gripper", | |
| "right_waist", | |
| "right_shoulder", | |
| "right_elbow", | |
| "right_forearm_roll", | |
| "right_wrist_angle", | |
| "right_wrist_rotate", | |
| "right_gripper" | |
| ] | |
| } | |
| }, | |
| "action.eef_pos_rpy": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_x", | |
| "left_y", | |
| "left_z", | |
| "left_roll", | |
| "left_pitch", | |
| "left_yaw", | |
| "left_gripper", | |
| "right_x", | |
| "right_y", | |
| "right_z", | |
| "right_roll", | |
| "right_pitch", | |
| "right_yaw", | |
| "right_gripper" | |
| ] | |
| } | |
| }, | |
| "action.eef_pos_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 16 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_x", | |
| "left_y", | |
| "left_z", | |
| "left_qx", | |
| "left_qy", | |
| "left_qz", | |
| "left_qw", | |
| "left_gripper", | |
| "right_x", | |
| "right_y", | |
| "right_z", | |
| "right_qx", | |
| "right_qy", | |
| "right_qz", | |
| "right_qw", | |
| "right_gripper" | |
| ] | |
| } | |
| }, | |
| "action.eef_pos_6d": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 20 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_x", | |
| "left_y", | |
| "left_z", | |
| "left_r1_x", | |
| "left_r1_y", | |
| "left_r1_z", | |
| "left_r2_x", | |
| "left_r2_y", | |
| "left_r2_z", | |
| "left_gripper", | |
| "right_x", | |
| "right_y", | |
| "right_z", | |
| "right_r1_x", | |
| "right_r1_y", | |
| "right_r1_z", | |
| "right_r2_x", | |
| "right_r2_y", | |
| "right_r2_z", | |
| "right_gripper" | |
| ] | |
| } | |
| }, | |
| "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 | |
| } | |
| }, | |
| "total_episodes": 2766, | |
| "total_frames": 605928, | |
| "total_tasks": 42, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "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", | |
| "robot_type": "yam", | |
| "splits": { | |
| "train": "0:2766" | |
| } | |
| } |