meta/info.json

{
  "codebase_version": "v3.0",
  "robot_type": "ur5e_aic",
  "total_episodes": 15,
  "total_frames": 6260,
  "total_tasks": 9,
  "chunks_size": 1000,
  "data_files_size_in_mb": 2.5,
  "video_files_size_in_mb": 8.3,
  "fps": 20,
  "splits": {
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  },
  "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": {
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        "pose.position.y",
        "pose.position.z",
        "pose.orientation.x",
        "pose.orientation.y",
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    },
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      "names": [
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        "tcp_pose.position.y",
        "tcp_pose.position.z",
        "tcp_pose.orientation.x",
        "tcp_pose.orientation.y",
        "tcp_pose.orientation.z",
        "tcp_pose.orientation.w",
        "tcp_velocity.linear.x",
        "tcp_velocity.linear.y",
        "tcp_velocity.linear.z",
        "tcp_velocity.angular.x",
        "tcp_velocity.angular.y",
        "tcp_velocity.angular.z",
        "joint_positions.0",
        "joint_positions.1",
        "joint_positions.2",
        "joint_positions.3",
        "joint_positions.4",
        "joint_positions.5",
        "joint_positions.6",
        "joint_velocities.0",
        "joint_velocities.1",
        "joint_velocities.2",
        "joint_velocities.3",
        "joint_velocities.4",
        "joint_velocities.5",
        "joint_velocities.6",
        "joint_efforts.0",
        "joint_efforts.1",
        "joint_efforts.2",
        "joint_efforts.3",
        "joint_efforts.4",
        "joint_efforts.5",
        "joint_efforts.6",
        "wrist_wrench.force.x",
        "wrist_wrench.force.y",
        "wrist_wrench.force.z",
        "wrist_wrench.torque.x",
        "wrist_wrench.torque.y",
        "wrist_wrench.torque.z",
        "fts_tare_offset.force.x",
        "fts_tare_offset.force.y",
        "fts_tare_offset.force.z",
        "fts_tare_offset.torque.x",
        "fts_tare_offset.torque.y",
        "fts_tare_offset.torque.z"
      ]
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    "observation.contact": {
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      "names": [
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        "video.width": 288,
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        "video.fps": 20,
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        "has_audio": false
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    "observation.images.center_camera": {
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    },
    "observation.images.right_camera": {
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        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
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    "timestamp": {
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      "names": null
    },
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  }
}