meta/info.json

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 1025,
    "total_frames": 218858,
    "total_tasks": 1,
    "chunks_size": 10000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 20000,
    "fps": 20,
    "splits": {
        "train": "0:1025"
    },
    "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": {
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "done": {
            "dtype": "bool",
            "shape": [
                1
            ]
        },
        "observation.images.agentview": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.channels": 3
            }
        },
        "observation.images.robot0_eye_in_hand": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.channels": 3
            }
        },
        "observation.images.robot1_eye_in_hand": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.channels": 3
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                18
            ],
            "names": [
                "robot0_eef_pos_x",
                "robot0_eef_pos_y",
                "robot0_eef_pos_z",
                "robot0_eef_quat_x",
                "robot0_eef_quat_y",
                "robot0_eef_quat_z",
                "robot0_eef_quat_w",
                "robot0_gripper_qpos_0",
                "robot0_gripper_qpos_1",
                "robot1_eef_pos_x",
                "robot1_eef_pos_y",
                "robot1_eef_pos_z",
                "robot1_eef_quat_x",
                "robot1_eef_quat_y",
                "robot1_eef_quat_z",
                "robot1_eef_quat_w",
                "robot1_gripper_qpos_0",
                "robot1_gripper_qpos_1"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "right_dx",
                "right_dy",
                "right_dz",
                "right_drx",
                "right_dry",
                "right_drz",
                "right_gripper",
                "left_dx",
                "left_dy",
                "left_dz",
                "left_drx",
                "left_dry",
                "left_drz",
                "left_gripper"
            ]
        },
        "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
        }
    }
}