meta/info.json

{
    "codebase_version": "v2.1",
    "robot_type": "zbot_inspire",
    "total_episodes": 1,
    "total_frames": 261,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "zbot_left_shoulder_pitch.pos",
                "zbot_left_shoulder_roll.pos",
                "zbot_left_shoulder_yaw.pos",
                "zbot_left_elbow.pos",
                "zbot_left_wrist.pos",
                "zbot_right_shoulder_pitch.pos",
                "zbot_right_shoulder_roll.pos",
                "zbot_right_shoulder_yaw.pos",
                "zbot_right_elbow.pos",
                "zbot_right_wrist.pos",
                "hand_pinky.pos",
                "hand_ring.pos",
                "hand_middle.pos",
                "hand_index.pos",
                "hand_thumb.pos",
                "hand_extra.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "zbot_left_shoulder_pitch.pos",
                "zbot_left_shoulder_roll.pos",
                "zbot_left_shoulder_yaw.pos",
                "zbot_left_elbow.pos",
                "zbot_left_wrist.pos",
                "zbot_right_shoulder_pitch.pos",
                "zbot_right_shoulder_roll.pos",
                "zbot_right_shoulder_yaw.pos",
                "zbot_right_elbow.pos",
                "zbot_right_wrist.pos",
                "hand_pinky.pos",
                "hand_ring.pos",
                "hand_middle.pos",
                "hand_index.pos",
                "hand_thumb.pos",
                "hand_extra.pos"
            ]
        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
                400,
                500,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 400,
                "video.width": 500,
                "video.codec": "libdav1d",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "dtype": "video",
            "shape": [
                400,
                500,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 400,
                "video.width": 500,
                "video.codec": "libdav1d",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "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
        }
    }
}