meta/info.json

{
    "codebase_version": "v2.1",
    "robot_type": "human_vr",
    "total_episodes": 169,
    "total_frames": 43870,
    "total_tasks": 1,
    "total_videos": 169,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:169"
    },
    "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": {
        "observation.images.camera0": {
            "dtype": "video",
            "shape": [
                600,
                960,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 600,
                "video.width": 960,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.robot0_eef_pos": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "x",
                "y",
                "z"
            ]
        },
        "observation.robot0_eef_rot_axis_angle": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "rx",
                "ry",
                "rz"
            ]
        },
        "observation.gripper0_gripper_pose": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper0_q"
            ]
        },
        "observation.camera0_pose": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "rx",
                "ry",
                "rz"
            ]
        },
        "observation.is_human": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "robot0_eef_pos_x",
                "robot0_eef_pos_y",
                "robot0_eef_pos_z",
                "robot0_eef_rot_x",
                "robot0_eef_rot_y",
                "robot0_eef_rot_z",
                "gripper0_q",
                "robot1_eef_pos_x",
                "robot1_eef_pos_y",
                "robot1_eef_pos_z",
                "robot1_eef_rot_x",
                "robot1_eef_rot_y",
                "robot1_eef_rot_z",
                "gripper1_q"
            ]
        },
        "observation.robot1_eef_pos": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "x",
                "y",
                "z"
            ]
        },
        "observation.robot1_eef_rot_axis_angle": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "rx",
                "ry",
                "rz"
            ]
        },
        "observation.gripper1_gripper_pose": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper1_q"
            ]
        },
        "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
        }
    }
}