meta/info.json

{
    "codebase_version": "v2.1",
    "robot_type": "ur10e",
    "total_episodes": 40,
    "total_frames": 14797,
    "total_tasks": 1,
    "total_videos": 120,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:40"
    },
    "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.pose": {
            "dtype": "float64",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw"
            ]
        },
        "observation.state.tool": {
            "dtype": "float64",
            "shape": [
                1
            ],
            "names": [
                "tool"
            ]
        },
        "observation.state.tcp_force": {
            "dtype": "float64",
            "shape": [
                3
            ],
            "names": [
                "x",
                "y",
                "z"
            ]
        },
        "observation.state.tcp_torque": {
            "dtype": "float64",
            "shape": [
                3
            ],
            "names": [
                "x",
                "y",
                "z"
            ]
        },
        "observation.state.joints": {
            "dtype": "float64",
            "shape": [
                6
            ]
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                3,
                300,
                355
            ],
            "info": {
                "video.height": 300,
                "video.width": 355,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_left": {
            "dtype": "video",
            "shape": [
                3,
                360,
                270
            ],
            "info": {
                "video.height": 360,
                "video.width": 270,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_right": {
            "dtype": "video",
            "shape": [
                3,
                360,
                270
            ],
            "info": {
                "video.height": 360,
                "video.width": 270,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "action.pose": {
            "dtype": "float64",
            "shape": [
                6
            ],
            "names": [
                "dx",
                "dy",
                "dz",
                "droll",
                "dpitch",
                "dyaw"
            ]
        },
        "action.tool": {
            "dtype": "float64",
            "shape": [
                1
            ]
        },
        "action.joints": {
            "dtype": "float64",
            "shape": [
                6
            ]
        },
        "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
        }
    }
}