TestDataset / meta /info.json
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{
"codebase_version": "v3.0",
"robot_type": "kuka_iiwa",
"total_episodes": 70,
"total_frames": 34143,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:70"
},
"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",
"features": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x.rel",
"y.rel",
"z.rel",
"roll.rel",
"pitch.rel",
"yaw.rel",
"gripper.pos"
]
},
"next.reward": {
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"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"complementary_info.discrete_penalty": {
"dtype": "float32",
"shape": [
1
],
"names": [
"discrete_penalty"
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.gripper": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
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"shape": [
10
],
"names": null
},
"timestamp": {
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1
],
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},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}