meta/info.json

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 3,
    "total_frames": 419,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": [
                7
            ],
            "names": [
                "gripper_controller.commands.torque",
                "spacenav.twist.linear.x",
                "spacenav.twist.linear.y",
                "spacenav.twist.linear.z",
                "spacenav.twist.angular.x",
                "spacenav.twist.angular.y",
                "spacenav.twist.angular.z"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                21
            ],
            "names": [
                "joint_3.position",
                "joint_4.position",
                "joint_2.position",
                "joint_5.position",
                "gripper_joint.position",
                "joint_1.position",
                "joint_6.position",
                "joint_3.velocity",
                "joint_4.velocity",
                "joint_2.velocity",
                "joint_5.velocity",
                "gripper_joint.velocity",
                "joint_1.velocity",
                "joint_6.velocity",
                "joint_3.effort",
                "joint_4.effort",
                "joint_2.effort",
                "joint_5.effort",
                "gripper_joint.effort",
                "joint_1.effort",
                "joint_6.effort"
            ]
        },
        "observation.images.base": {
            "dtype": "video",
            "shape": [
                736,
                1312,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 736,
                "video.width": 1312,
                "video.codec": "av1",
                "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
        }
    }
}