sample_test / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "unknown",
"total_episodes": 6,
"total_frames": 1845,
"total_tasks": 1,
"total_videos": 12,
"total_chunks": 1,
"chunks_size": 6,
"fps": 30.0,
"splits": {
"train": "0:6"
},
"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": {
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"robot.joint_positions": {
"dtype": "float32",
"shape": [
6
],
"names": null
},
"robot.joint_velocities": {
"dtype": "float32",
"shape": [
6
],
"names": null
},
"robot.end_effector_pose": {
"dtype": "float32",
"shape": [
6
],
"names": null
},
"robot.end_effector_force": {
"dtype": "float32",
"shape": [
6
],
"names": null
},
"robot.joint_torques": {
"dtype": "float32",
"shape": [
6
],
"names": null
},
"robot.gripper_pos": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"robot.gripper_state": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"retreating": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"recovering": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"observation.state": {
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"shape": [
6
],
"names": null
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": null
},
"observation.images.wrist_cam_rgb": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.base_cam_rgb": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
}
}
}