meta/info.json

{
  "codebase_version": "v3.2",
  "robot_type": "humanoid",
  "total_episodes": 184,
  "total_frames": 198927,
  "total_tasks": 3,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "fps": 24,
  "splits": {
    "train": "0:184"
  },
  "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",
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        45
      ],
      "names": [
        "root_pos_x",
        "root_pos_y",
        "root_pos_z",
        "root_rot6_r11",
        "root_rot6_r21",
        "root_rot6_r31",
        "root_rot6_r12",
        "root_rot6_r22",
        "root_rot6_r32",
        "dof_pos_waist_roll_joint",
        "dof_pos_waist_yaw_joint",
        "dof_pos_head_pitch_joint",
        "dof_pos_head_yaw_joint",
        "dof_pos_left_shoulder_pitch_joint",
        "dof_pos_left_shoulder_roll_joint",
        "dof_pos_left_shoulder_yaw_joint",
        "dof_pos_left_elbow_joint",
        "dof_pos_left_wrist_roll_link",
        "dof_pos_right_shoulder_pitch_joint",
        "dof_pos_right_shoulder_roll_joint",
        "dof_pos_right_shoulder_yaw_joint",
        "dof_pos_right_elbow_joint",
        "dof_pos_right_wrist_roll_joint",
        "dof_pos_right_index_proximal_joint",
        "dof_pos_right_index_distal_joint",
        "dof_pos_right_middle_proximal_joint",
        "dof_pos_right_middle_distal_joint",
        "dof_pos_right_pinky_proximal_joint",
        "dof_pos_right_pinky_distal_joint",
        "dof_pos_right_ring_proximal_joint",
        "dof_pos_right_ring_distal_joint",
        "dof_pos_right_thumb_metacarpal_joint",
        "dof_pos_right_thumb_proximal_joint",
        "dof_pos_right_thumb_distal_joint",
        "dof_pos_left_index_proximal_joint",
        "dof_pos_left_index_distal_joint",
        "dof_pos_left_middle_proximal_joint",
        "dof_pos_left_middle_distal_joint",
        "dof_pos_left_pinky_proximal_joint",
        "dof_pos_left_pinky_distal_joint",
        "dof_pos_left_ring_proximal_joint",
        "dof_pos_left_ring_distal_joint",
        "dof_pos_left_thumb_metacarpal_joint",
        "dof_pos_left_thumb_proximal_joint",
        "dof_pos_left_thumb_distal_joint"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        45
      ],
      "names": [
        "action_root_pos_x",
        "action_root_pos_y",
        "action_root_pos_z",
        "action_root_rot6_r11",
        "action_root_rot6_r21",
        "action_root_rot6_r31",
        "action_root_rot6_r12",
        "action_root_rot6_r22",
        "action_root_rot6_r32",
        "action_dof_pos_waist_roll_joint",
        "action_dof_pos_waist_yaw_joint",
        "action_dof_pos_head_pitch_joint",
        "action_dof_pos_head_yaw_joint",
        "action_dof_pos_left_shoulder_pitch_joint",
        "action_dof_pos_left_shoulder_roll_joint",
        "action_dof_pos_left_shoulder_yaw_joint",
        "action_dof_pos_left_elbow_joint",
        "action_dof_pos_left_wrist_roll_link",
        "action_dof_pos_right_shoulder_pitch_joint",
        "action_dof_pos_right_shoulder_roll_joint",
        "action_dof_pos_right_shoulder_yaw_joint",
        "action_dof_pos_right_elbow_joint",
        "action_dof_pos_right_wrist_roll_joint",
        "action_dof_pos_right_index_proximal_joint",
        "action_dof_pos_right_index_distal_joint",
        "action_dof_pos_right_middle_proximal_joint",
        "action_dof_pos_right_middle_distal_joint",
        "action_dof_pos_right_pinky_proximal_joint",
        "action_dof_pos_right_pinky_distal_joint",
        "action_dof_pos_right_ring_proximal_joint",
        "action_dof_pos_right_ring_distal_joint",
        "action_dof_pos_right_thumb_metacarpal_joint",
        "action_dof_pos_right_thumb_proximal_joint",
        "action_dof_pos_right_thumb_distal_joint",
        "action_dof_pos_left_index_proximal_joint",
        "action_dof_pos_left_index_distal_joint",
        "action_dof_pos_left_middle_proximal_joint",
        "action_dof_pos_left_middle_distal_joint",
        "action_dof_pos_left_pinky_proximal_joint",
        "action_dof_pos_left_pinky_distal_joint",
        "action_dof_pos_left_ring_proximal_joint",
        "action_dof_pos_left_ring_distal_joint",
        "action_dof_pos_left_thumb_metacarpal_joint",
        "action_dof_pos_left_thumb_proximal_joint",
        "action_dof_pos_left_thumb_distal_joint"
      ]
    },
    "observation.images.head": {
      "dtype": "video",
      "shape": [
        3,
        480,
        640
      ],
      "names": [
        "channel",
        "height",
        "width"
      ]
    },
    "observation.images.neck": {
      "dtype": "video",
      "shape": [
        3,
        480,
        640
      ],
      "names": [
        "channel",
        "height",
        "width"
      ]
    },
    "language_instruction": {
      "dtype": "string",
      "shape": [
        1
      ],
      "names": null
    },
    "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
    }
  },
  "tasks": {
    "Pick the box and put it onto table": 0,
    "Pick the cans from box and put them to bin": 1,
    "Put the bin and box to the trolley shelves": 2
  }
}