meta/info.json

{
  "codebase_version": "v3.0",
  "robot_type": "xarm6",
  "ee_frame": "tcp",
  "ee_tcp_offset_m": 0.172,
  "ee_tcp_offset_frame": "local +Z of link6/toolhead frame",
  "ee_tcp_offset_note": "observation.state/action xyz are defined at the TCP/tool point, 0.172 m (172 mm) from link6 along local +Z",
  "total_episodes": 193,
  "total_frames": 44230,
  "total_tasks": 3,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 30.0,
  "splits": {
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  },
  "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": {
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      "names": [
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        "rot_6d_1",
        "rot_6d_2",
        "rot_6d_3",
        "rot_6d_4",
        "rot_6d_5",
        "gripper"
      ]
    },
    "observation.state": {
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        "rot_6d_3",
        "rot_6d_4",
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        "joint_1",
        "joint_2",
        "joint_3",
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        "joint_5",
        "joint_6"
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    },
    "timestamp": {
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    },
    "frame_index": {
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    "episode_index": {
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    "index": {
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    "next.reward": {
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    },
    "next.done": {
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    },
    "observation.images.wrist": {
      "dtype": "video",
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      ],
      "names": [
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        "width",
        "channels"
      ],
      "video_info": {
        "video.fps": 30.0,
        "video.height": 480,
        "video.width": 640,
        "video.codec": "avc1",
        "has_audio": false
      },
      "camera_metadata": {
        "source_camera": "realsense",
        "camera_model": null,
        "view": "mono",
        "output_width": 640,
        "output_height": 480,
        "intrinsics": {
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          "R": [
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}