meta/info.json

{
  "codebase_version": "v2.1",
  "robot_type": "multi_robot_2",
  "total_episodes": 1,
  "total_frames": 1000,
  "total_tasks": 1,
  "total_videos": 0,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "splits": {
    "train": "0:1"
  },
  "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": [
        34
      ],
      "names": [
        "arm1_shoulder_lift_joint.pos",
        "arm1_elbow_joint.pos",
        "arm1_wrist_1_joint.pos",
        "arm1_wrist_2_joint.pos",
        "arm2_wrist_3_joint.pos",
        "arm1_wrist_3_joint.pos",
        "arm2_3f_finger_b_joint_3.pos",
        "arm1_3f_finger_c_joint_3.pos",
        "arm2_3f_palm_finger_b_joint.pos",
        "arm2_3f_finger_c_joint_3.pos",
        "arm2_3f_palm_finger_c_joint.pos",
        "arm1_3f_finger_c_joint_2.pos",
        "arm2_3f_finger_a_joint_3.pos",
        "arm2_3f_finger_c_joint_2.pos",
        "arm1_3f_finger_b_joint_2.pos",
        "arm2_3f_finger_c_joint_1.pos",
        "arm2_wrist_2_joint.pos",
        "arm1_shoulder_pan_joint.pos",
        "arm1_3f_finger_c_joint_1.pos",
        "arm2_3f_finger_b_joint_1.pos",
        "arm2_shoulder_pan_joint.pos",
        "arm1_3f_finger_b_joint_3.pos",
        "arm1_3f_finger_b_joint_1.pos",
        "arm2_3f_finger_a_joint_2.pos",
        "arm1_3f_palm_finger_b_joint.pos",
        "arm1_3f_finger_a_joint_3.pos",
        "arm2_elbow_joint.pos",
        "arm1_3f_finger_a_joint_1.pos",
        "arm2_shoulder_lift_joint.pos",
        "arm2_3f_finger_b_joint_2.pos",
        "arm2_3f_finger_a_joint_1.pos",
        "arm1_3f_palm_finger_c_joint.pos",
        "arm1_3f_finger_a_joint_2.pos",
        "arm2_wrist_1_joint.pos"
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        34
      ],
      "names": [
        "arm1_shoulder_lift_joint.pos",
        "arm1_elbow_joint.pos",
        "arm1_wrist_1_joint.pos",
        "arm1_wrist_2_joint.pos",
        "arm2_wrist_3_joint.pos",
        "arm1_wrist_3_joint.pos",
        "arm2_3f_finger_b_joint_3.pos",
        "arm1_3f_finger_c_joint_3.pos",
        "arm2_3f_palm_finger_b_joint.pos",
        "arm2_3f_finger_c_joint_3.pos",
        "arm2_3f_palm_finger_c_joint.pos",
        "arm1_3f_finger_c_joint_2.pos",
        "arm2_3f_finger_a_joint_3.pos",
        "arm2_3f_finger_c_joint_2.pos",
        "arm1_3f_finger_b_joint_2.pos",
        "arm2_3f_finger_c_joint_1.pos",
        "arm2_wrist_2_joint.pos",
        "arm1_shoulder_pan_joint.pos",
        "arm1_3f_finger_c_joint_1.pos",
        "arm2_3f_finger_b_joint_1.pos",
        "arm2_shoulder_pan_joint.pos",
        "arm1_3f_finger_b_joint_3.pos",
        "arm1_3f_finger_b_joint_1.pos",
        "arm2_3f_finger_a_joint_2.pos",
        "arm1_3f_palm_finger_b_joint.pos",
        "arm1_3f_finger_a_joint_3.pos",
        "arm2_elbow_joint.pos",
        "arm1_3f_finger_a_joint_1.pos",
        "arm2_shoulder_lift_joint.pos",
        "arm2_3f_finger_b_joint_2.pos",
        "arm2_3f_finger_a_joint_1.pos",
        "arm1_3f_palm_finger_c_joint.pos",
        "arm1_3f_finger_a_joint_2.pos",
        "arm2_wrist_1_joint.pos"
      ]
    },
    "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
    }
  }
}