meta/info.json

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 3273,
    "total_frames": 382956,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:3273"
    },
    "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": [
                18
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_vel_0",
                "joint_vel_1",
                "joint_vel_2",
                "joint_vel_3",
                "joint_vel_4",
                "joint_vel_5",
                "tcp_x",
                "tcp_y",
                "tcp_z",
                "tcp_rx",
                "tcp_ry",
                "tcp_rz"
            ]
        },
        "observation.images.cam_2d": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_3d": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "safety_mode": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "safety_mode"
            ]
        },
        "task_phase": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "task_phase"
            ]
        },
        "fault": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "fault"
            ]
        },
        "fault_id": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "fault_id"
            ]
        },
        "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
        }
    }
}