meta/info.json

{
    "codebase_version": "v2.1",
    "robot_type": "multi_robot",
    "total_episodes": 51,
    "total_frames": 24538,
    "total_tasks": 1,
    "total_videos": 102,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:51"
    },
    "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.state": {
            "shape": [
                23
            ],
            "dtype": "float32",
            "names": [
                "right_xarm7_joint_0",
                "right_xarm7_joint_1",
                "right_xarm7_joint_2",
                "right_xarm7_joint_3",
                "right_xarm7_joint_4",
                "right_xarm7_joint_5",
                "right_xarm7_joint_6",
                "leap_joint_0",
                "leap_joint_1",
                "leap_joint_2",
                "leap_joint_3",
                "leap_joint_4",
                "leap_joint_5",
                "leap_joint_6",
                "leap_joint_7",
                "leap_joint_8",
                "leap_joint_9",
                "leap_joint_10",
                "leap_joint_11",
                "leap_joint_12",
                "leap_joint_13",
                "leap_joint_14",
                "leap_joint_15"
            ]
        },
        "action": {
            "shape": [
                22
            ],
            "dtype": "float32",
            "names": [
                "right_xarm7_x",
                "right_xarm7_y",
                "right_xarm7_z",
                "right_xarm7_roll",
                "right_xarm7_pitch",
                "right_xarm7_yaw",
                "leap_cmd_0",
                "leap_cmd_1",
                "leap_cmd_2",
                "leap_cmd_3",
                "leap_cmd_4",
                "leap_cmd_5",
                "leap_cmd_6",
                "leap_cmd_7",
                "leap_cmd_8",
                "leap_cmd_9",
                "leap_cmd_10",
                "leap_cmd_11",
                "leap_cmd_12",
                "leap_cmd_13",
                "leap_cmd_14",
                "leap_cmd_15"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.overhead": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "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
        }
    }
}