meta/info.json

{
    "codebase_version": "v3.0",
    "robot_type": "Franka",
    "total_episodes": 13,
    "total_frames": 9382,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:13"
    },
    "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",
            "shape": [
                8
            ],
            "names": [
                "j1",
                "j2",
                "j3",
                "j4",
                "j5",
                "j6",
                "j7",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                15
            ],
            "names": [
                "ee_x",
                "ee_y",
                "ee_z",
                "ee_qx",
                "ee_qy",
                "ee_qz",
                "ee_qw",
                "j1",
                "j2",
                "j3",
                "j4",
                "j5",
                "j6",
                "j7",
                "gripper"
            ]
        },
        "observation.images.cam_0": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.depth.cam_0": {
            "dtype": "float32",
            "shape": [
                256,
                256
            ],
            "names": "depth_image"
        },
        "observation.state.intrinsic": {
            "dtype": "float32",
            "shape": [
                3,
                3
            ],
            "names": "intrinsic_matrix"
        },
        "observation.state.extrinsic": {
            "dtype": "float32",
            "shape": [
                4,
                4
            ],
            "names": "extrinsic_matrix"
        },
        "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
        }
    }
}