meta/info.json

{
    "codebase_version": "v3.0",
    "robot_type": "yam",
    "total_episodes": 1119,
    "total_frames": 3080624,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 60,
    "splits": {
        "train": "0:1119"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_waist",
                "left_shoulder",
                "left_elbow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_elbow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ],
            "fps": 60
        },
        "observation.commander_state": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "commander_states"
            ],
            "fps": 60
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_waist",
                "left_shoulder",
                "left_elbow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_elbow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ],
            "fps": 60
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "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,
            "fps": 60
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "mc_return": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "rl_token": {
            "dtype": "float32",
            "shape": [
                2048
            ],
            "names": null
        },
        "base_action": {
            "dtype": "float16",
            "shape": [
                32,
                50,
                14
            ],
            "names": null
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}