meta/info.json

{
    "codebase_version": "v3.0",
    "robot_type": "x7s",
    "total_episodes": 10300,
    "total_frames": 10336395,
    "total_tasks": 206,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:10300"
    },
    "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.images.left_hand": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.width": 640,
                "video.height": 480,
                "video.fps": 50.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.first_person": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.width": 640,
                "video.height": 480,
                "video.fps": 50.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.right_hand": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.width": 640,
                "video.height": 480,
                "video.fps": 50.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                25
            ],
            "names": [
                "base_x_joint",
                "base_y_joint",
                "base_yaw_link",
                "body_z_joint",
                "body_y_joint",
                "right_shoulder_y",
                "head_z_joint",
                "left_shoulder_y",
                "right_shoulder_x",
                "head_y_joint",
                "left_shoulder_x",
                "right_shoulder_z",
                "left_shoulder_z",
                "right_elbow_y",
                "left_elbow_y",
                "right_elbow_x",
                "left_elbow_x",
                "right_wrist_y",
                "left_wrist_y",
                "right_wrist_z",
                "left_wrist_z",
                "right_gripper1",
                "right_gripper2",
                "left_gripper1",
                "left_gripper2"
            ],
            "fps": 50
        },
        "action": {
            "dtype": "float32",
            "shape": [
                21
            ],
            "names": [
                "base_x_joint",
                "base_y_joint",
                "base_yaw_link",
                "body_z_joint",
                "body_y_joint",
                "left_shoulder_y",
                "left_shoulder_x",
                "left_shoulder_z",
                "left_elbow_y",
                "left_elbow_x",
                "left_wrist_y",
                "left_wrist_z",
                "right_shoulder_y",
                "right_shoulder_x",
                "right_shoulder_z",
                "right_elbow_y",
                "right_elbow_x",
                "right_wrist_y",
                "right_wrist_z",
                "left_gripper",
                "right_gripper"
            ],
            "fps": 50
        },
        "processed_action": {
            "dtype": "float32",
            "shape": [
                23
            ],
            "names": [
                "base_x_joint",
                "base_y_joint",
                "base_yaw_link",
                "body_z_joint",
                "body_y_joint",
                "left_shoulder_y",
                "left_shoulder_x",
                "left_shoulder_z",
                "left_elbow_y",
                "left_elbow_x",
                "left_wrist_y",
                "left_wrist_z",
                "right_shoulder_y",
                "right_shoulder_x",
                "right_shoulder_z",
                "right_elbow_y",
                "right_elbow_x",
                "right_wrist_y",
                "right_wrist_z",
                "left_gripper1",
                "left_gripper2",
                "right_gripper1",
                "right_gripper2"
            ],
            "fps": 50
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 50
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 50
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 50
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 50
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 50
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}