data_pickup_tire / metadata.json
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{
"action_dim": 19,
"actions": {
"action.body": {
"alignment": "same_frame_timestamp",
"column": "actions",
"frame_column": "action",
"frame_path": "data/frames.lance",
"frame_table": "frames",
"kind": "action",
"names_ref": "meta/info.json#/features/action/names",
"path": "data/episodes.lance",
"rate_hz": 30.0,
"semantics": {
"absolute_or_delta": "absolute",
"applies_to_interval": "[t_i, t_{i+1})",
"command_type": "joint_position",
"control_frame": "robot_base",
"normalized": false,
"units": "mixed"
},
"shape": [
19
],
"shape_policy": "single",
"source_key": "action",
"stats": "meta/stats/action_body.json",
"table": "episodes"
}
},
"camera_keys": [
"observation.images.cam_head",
"observation.images.cam_wrist_left",
"observation.images.cam_wrist_right"
],
"created_at": "2026-05-24T10:08:17.716372+00:00",
"curation": {
"policy": "deleted episodes excluded; accepted/edited annotations materialized",
"source_format": "robot_data_studio_lance_subset_v2",
"source_lance_subset_root": "/home/shkim_rllab/Desktop/rllab_robot_stack/data/exports/fd4489c8-6af2-43ff-b41c-5cc034e70409/lance_subset"
},
"dataset_id": "data_pickup_tire",
"format": "rllab_published_lance_dataset_v2",
"fps": 30.0,
"meta": {
"action_body_stats": "meta/stats/action_body.json",
"episodes_jsonl": "meta/episodes.jsonl",
"info": "meta/info.json",
"sessions": "meta/sessions.json",
"splits": "meta/splits.json",
"state_body_stats": "meta/stats/state_body.json",
"stats_dir": "meta/stats",
"tasks_jsonl": "meta/tasks.jsonl"
},
"modalities": {
"state.body": {
"column": "observation_state",
"frame_column": "observation_state",
"frame_path": "data/frames.lance",
"frame_table": "frames",
"kind": "state",
"names_ref": "meta/info.json#/features/observation.state/names",
"path": "data/episodes.lance",
"rate_hz": 30.0,
"shape": [
19
],
"shape_policy": "single",
"source_key": "observation.state",
"stats": "meta/stats/state_body.json",
"table": "episodes"
},
"video.cam_head": {
"blob_column": "video_blob",
"camera_column": "cam_head",
"camera_key": "observation.images.cam_head",
"encoding": "rgb8_h264",
"kind": "video",
"media_id_column": "media_id",
"names_ref": "meta/info.json#/features/observation.images.cam_head/names",
"path": "data/videos.lance",
"rate_hz": 30.0,
"segment_column": "camera_segments",
"shape_ref": "meta/info.json#/features/observation.images.cam_head/shape",
"source_key": "observation.images.cam_head",
"table": "videos"
},
"video.cam_wrist_left": {
"blob_column": "video_blob",
"camera_column": "cam_wrist_left",
"camera_key": "observation.images.cam_wrist_left",
"encoding": "rgb8_h264",
"kind": "video",
"media_id_column": "media_id",
"names_ref": "meta/info.json#/features/observation.images.cam_wrist_left/names",
"path": "data/videos.lance",
"rate_hz": 30.0,
"segment_column": "camera_segments",
"shape_ref": "meta/info.json#/features/observation.images.cam_wrist_left/shape",
"source_key": "observation.images.cam_wrist_left",
"table": "videos"
},
"video.cam_wrist_right": {
"blob_column": "video_blob",
"camera_column": "cam_wrist_right",
"camera_key": "observation.images.cam_wrist_right",
"encoding": "rgb8_h264",
"kind": "video",
"media_id_column": "media_id",
"names_ref": "meta/info.json#/features/observation.images.cam_wrist_right/names",
"path": "data/videos.lance",
"rate_hz": 30.0,
"segment_column": "camera_segments",
"shape_ref": "meta/info.json#/features/observation.images.cam_wrist_right/shape",
"source_key": "observation.images.cam_wrist_right",
"table": "videos"
}
},
"primary_training_table": "data/episodes.lance",
"schema_version": "2.0",
"state_dim": 19,
"stats": {
"action_body": "meta/stats/action_body.json",
"action_count": 16800,
"action_dim": 19,
"path": "meta/stats.json",
"state_body": "meta/stats/state_body.json",
"state_count": 16800,
"state_dim": 19
},
"tables": {
"episodes": "data/episodes.lance",
"frames": "data/frames.lance",
"primary_training": "data/episodes.lance",
"videos": "data/videos.lance"
},
"total_episodes": 50,
"total_frames": 16800,
"total_videos": 150,
"training_columns": null,
"version_description": "data_pickup_tire with episodes 0-4 deleted"
}