meta/info.json

{
  "codebase_version": "v2.1",
  "robot_type": "ur5e",
  "total_episodes": 4,
  "total_frames": 550,
  "total_tasks": 1,
  "total_videos": 8,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "splits": {
    "train": "0:4"
  },
  "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",
  "camera_keys": [
    "observation.images.wrist",
    "observation.images.front"
  ],
  "features": {
    "action": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "shoulder_pan.dq",
        "shoulder_lift.dq",
        "elbow_flex.dq",
        "wrist_1.dq",
        "wrist_2.dq",
        "wrist_3.dq"
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow_flex.pos",
        "wrist_1.pos",
        "wrist_2.pos",
        "wrist_3.pos"
      ]
    },
    "observation.images.wrist": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "avc1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.front": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "avc1",
        "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
    }
  },
  "stats": {
    "action": {
      "min": [
        -0.03516244888305664,
        -0.03666555881500244,
        -0.028196334838867188,
        -0.05927276611328125,
        -0.003513336181640625,
        -0.035086631774902344
      ],
      "max": [
        0.03890180587768555,
        0.03495287895202637,
        0.03058481216430664,
        0.05866861343383789,
        0.003105640411376953,
        0.03865933418273926
      ],
      "mean": [
        0.00015841310674493962,
        3.432317213578658e-05,
        2.7178851040926847e-05,
        -6.521224975585937e-05,
        -1.4377940784801136e-05,
        0.00015771345658735795
      ],
      "std": [
        0.012985264831669832,
        0.01299297247502931,
        0.009581806582031824,
        0.020123617728428585,
        0.001139562911612437,
        0.0129527432383738
      ]
    },
    "observation.state": {
      "min": [
        -0.39394932985305786,
        -1.5072095394134521,
        1.6330012083053589,
        -2.362252950668335,
        -1.5544217824935913,
        -3.8160946369171143
      ],
      "max": [
        -0.012267891317605972,
        -1.0946621894836426,
        1.8878902196884155,
        -1.9693681001663208,
        -1.5212405920028687,
        -3.4363770484924316
      ],
      "mean": [
        -0.18007703940299424,
        -1.2138462417775935,
        1.787124658497897,
        -2.2319981700723823,
        -1.5392273924567483,
        -3.603258642283353
      ],
      "std": [
        0.076471665240032,
        0.07267080662401168,
        0.05496751021817782,
        0.09698959549596567,
        0.0067228301121415234,
        0.07620110554463871
      ]
    },
    "timestamp": {
      "min": [
        0.0
      ],
      "max": [
        7.0333333015441895
      ],
      "mean": [
        2.755575656890869
      ],
      "std": [
        1.8536962270736694
      ]
    }
  }
}