meta/info.json

{
    "codebase_version": "v3.0",
    "robot_type": "crisp_ws",
    "total_episodes": 7,
    "total_frames": 8268,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 60,
    "splits": {
        "train": "0:7"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "names": [
                "pos_x",
                "pos_y",
                "pos_z",
                "quat_x",
                "quat_y",
                "quat_z",
                "quat_w",
                "gripper_cmd"
            ],
            "shape": [
                8
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "ee.pos_x",
                "ee.pos_y",
                "ee.pos_z",
                "ee.quat_w",
                "ee.quat_x",
                "ee.quat_y",
                "ee.quat_z",
                "joint.0",
                "joint.1",
                "joint.2",
                "joint.3",
                "joint.4",
                "joint.5",
                "joint.6",
                "target.pos_x",
                "target.pos_y",
                "target.pos_z",
                "target.quat_x",
                "target.quat_y",
                "target.quat_z",
                "target.quat_w",
                "target.gripper",
                "sensor.netft.0",
                "sensor.netft.1",
                "sensor.netft.2",
                "sensor.netft.3",
                "sensor.netft.4",
                "sensor.netft.5",
                "sensor.robot_wrench.0",
                "sensor.robot_wrench.1",
                "sensor.robot_wrench.2",
                "sensor.robot_wrench.3",
                "sensor.robot_wrench.4",
                "sensor.robot_wrench.5",
                "gripper.pos"
            ],
            "shape": [
                35
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "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
        }
    }
}