meta/info.json

{
    "codebase_version": "v2.1",
    "robot_type": "franka_umi_left_tcp_rot6d",
    "total_episodes": 45,
    "total_frames": 12939,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:45"
    },
    "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": {
        "state": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "x",
                "y",
                "z",
                "rot6d_0",
                "rot6d_1",
                "rot6d_2",
                "rot6d_3",
                "rot6d_4",
                "rot6d_5",
                "gripper_pos"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "x",
                "y",
                "z",
                "rot6d_0",
                "rot6d_1",
                "rot6d_2",
                "rot6d_3",
                "rot6d_4",
                "rot6d_5",
                "gripper_cmd_pos_pct"
            ]
        },
        "image": {
            "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,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "extra_view_image-0": {
            "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,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "timestamp"
            ]
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "frame_index"
            ]
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "episode_index"
            ]
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "index"
            ]
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "task_index"
            ]
        },
        "extra_view_image": {
            "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,
                "video.channels": 3,
                "has_audio": false
            }
        }
    }
}