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meta/cameras.json

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+{
+  "base_frame": "Left_link_base",
+  "cameras": {
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+      "base_T_cam_note": "Computed from /tf_static + /tf snapshot at episode start (arm-mounted camera). Changes with arm pose \u2014 use eef_T_cam + FK for per-frame accuracy.",
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+      "eef_T_cam_note": "Static transform Left_link_eef \u2192 Left_camera_color_optical_frame from /tf_static. Combine with per-frame FK to get base_T_cam for each timestep."
+    },
+    "camera_top": {
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+      "extrinsics_source": "tf_static"
+    }
+  }
+}

meta/info.json

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+{
+  "codebase_version": "v3.0",
+  "robot_type": "xarm_lite6",
+  "total_episodes": 3,
+  "total_frames": 1030,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "fps": 30,
+  "splits": {
+    "train": "0:3"
+  },
+  "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",
+  "depth_path": "depth/{camera_key}/chunk-{chunk_index:03d}/episode_{episode_index:03d}/{frame_index:06d}.png",
+  "features": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ],
+      "names": [
+        "Left_joint1",
+        "Left_joint2",
+        "Left_joint3",
+        "Left_joint4",
+        "Left_joint5",
+        "Left_joint6",
+        "Left_joint7",
+        "Left_right_finger_joint"
+      ]
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
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+      ],
+      "names": [
+        "left_x",
+        "left_y",
+        "left_z",
+        "left_qx",
+        "left_qy",
+        "left_qz",
+        "left_qw",
+        "left_press_index",
+        "left_press_middle",
+        "left_button_upper",
+        "left_button_lower",
+        "left_thumb_stick_h",
+        "left_thumb_stick_v"
+      ],
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+    "observation.images.camera_left": {
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+        848
+      ],
+      "names": [
+        "channel",
+        "height",
+        "width"
+      ],
+      "info": {
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+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "has_audio": false
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+    },
+    "observation.images.camera_top": {
+      "dtype": "video",
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+      "names": [
+        "channel",
+        "height",
+        "width"
+      ],
+      "info": {
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+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
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+    "observation.depth.camera_left.path": {
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+      "info": {
+        "format": "png_uint16_mm",
+        "image_shape": [
+          1,
+          480,
+          848
+        ],
+        "note": "Path is relative to dataset root. Load with cv2.imread(path, cv2.IMREAD_UNCHANGED)."
+      }
+    },
+    "observation.depth.camera_top.path": {
+      "dtype": "string",
+      "shape": [
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+      "info": {
+        "format": "png_uint16_mm",
+        "image_shape": [
+          1,
+          480,
+          848
+        ],
+        "note": "Path is relative to dataset root. Load with cv2.imread(path, cv2.IMREAD_UNCHANGED)."
+      }
+    }
+  },
+  "objects": {
+    "nest_reservoir": {
+      "name": "nest_reservoir",
+      "source_path": "NEST 12 Row Reservoir 22mL.obj",
+      "unit": "mm",
+      "scale_to_m": 0.001,
+      "mesh_file": "mesh.obj",
+      "n_vertices": 6342,
+      "n_faces": 7716
+    }
+  },
+  "cameras_path": "meta/cameras.json"
+}

meta/objects/nest_reservoir/metadata.json

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+{
+  "name": "nest_reservoir",
+  "source_path": "NEST 12 Row Reservoir 22mL.obj",
+  "unit": "mm",
+  "scale_to_m": 0.001,
+  "mesh_file": "mesh.obj",
+  "n_vertices": 6342,
+  "n_faces": 7716
+}

meta/stats.json

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