meta/info.json

{
  "codebase_version": "v2.1",
  "robot_type": "reachy2",
  "fps": 15,
  "total_episodes": 100,
  "total_frames": 11601,
  "total_tasks": 24,
  "total_chunks": 1,
  "chunks_size": 1000,
  "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",
  "cameras": [
    "front_cam",
    "workspace_cam"
  ],
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "shoulder_pitch",
        "shoulder_roll",
        "elbow_yaw",
        "elbow_pitch",
        "wrist_roll",
        "wrist_pitch",
        "wrist_yaw"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        8
      ],
      "names": [
        "shoulder_pitch",
        "shoulder_roll",
        "elbow_yaw",
        "elbow_pitch",
        "wrist_roll",
        "wrist_pitch",
        "wrist_yaw",
        "gripper"
      ]
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ]
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "next.done": {
      "dtype": "bool",
      "shape": [
        1
      ]
    },
    "observation.images.front_cam": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "video_info": {
        "video.fps": 15,
        "video.codec": "mp4v",
        "video.pix_fmt": "bgr24"
      }
    },
    "observation.images.workspace_cam": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "video_info": {
        "video.fps": 15,
        "video.codec": "mp4v",
        "video.pix_fmt": "bgr24"
      }
    }
  }
}