G2_UMI_STD / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "umi",
"total_episodes": 6,
"total_frames": 5326,
"total_tasks": 3,
"total_videos": 18,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:6"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_ee_position_x",
"left_ee_position_y",
"left_ee_position_z",
"left_ee_orientation_x",
"left_ee_orientation_y",
"left_ee_orientation_z",
"left_ee_orientation_w",
"left_gripper_position",
"right_ee_position_x",
"right_ee_position_y",
"right_ee_position_z",
"right_ee_orientation_x",
"right_ee_orientation_y",
"right_ee_orientation_z",
"right_ee_orientation_w",
"right_gripper_position"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_ee_position_x",
"left_ee_position_y",
"left_ee_position_z",
"left_ee_orientation_x",
"left_ee_orientation_y",
"left_ee_orientation_z",
"left_ee_orientation_w",
"left_gripper_position",
"right_ee_position_x",
"right_ee_position_y",
"right_ee_position_z",
"right_ee_orientation_x",
"right_ee_orientation_y",
"right_ee_orientation_z",
"right_ee_orientation_w",
"right_gripper_position"
]
},
"observation.hmd_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"hmd_position_x",
"hmd_position_y",
"hmd_position_z",
"hmd_orientation_x",
"hmd_orientation_y",
"hmd_orientation_z",
"hmd_orientation_w"
]
},
"observation.imu.left": {
"dtype": "float32",
"shape": [
6
],
"names": [
"left_wrist_imu_angular_velocity_x",
"left_wrist_imu_angular_velocity_y",
"left_wrist_imu_angular_velocity_z",
"left_wrist_imu_linear_acceleration_x",
"left_wrist_imu_linear_acceleration_y",
"left_wrist_imu_linear_acceleration_z"
]
},
"observation.imu.right": {
"dtype": "float32",
"shape": [
6
],
"names": [
"right_wrist_imu_angular_velocity_x",
"right_wrist_imu_angular_velocity_y",
"right_wrist_imu_angular_velocity_z",
"right_wrist_imu_linear_acceleration_x",
"right_wrist_imu_linear_acceleration_y",
"right_wrist_imu_linear_acceleration_z"
]
},
"observation.images.left_color": {
"dtype": "video",
"shape": [
800,
2560,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 800,
"video.width": 2560,
"video.codec": "h264",
"video.pix_fmt": "yuvj420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_color": {
"dtype": "video",
"shape": [
800,
2560,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 800,
"video.width": 2560,
"video.codec": "h264",
"video.pix_fmt": "yuvj420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head_camera": {
"dtype": "video",
"shape": [
1920,
3840,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1920,
"video.width": 3840,
"video.codec": "h264",
"video.pix_fmt": "yuvj420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"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
}
}
}