| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "fetch", | |
| "total_episodes": 1, | |
| "total_frames": 60, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "fps": 1.0, | |
| "splits": { | |
| "train": "0:1" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "observation.images.rgb": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 1.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.depth": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 1 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 1.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": true, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 15 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "joint_7", | |
| "joint_8", | |
| "joint_9", | |
| "joint_10", | |
| "joint_11", | |
| "joint_12", | |
| "joint_13", | |
| "joint_14" | |
| ] | |
| }, | |
| "fps": 1.0 | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 15 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6", | |
| "joint_7", | |
| "joint_8", | |
| "joint_9", | |
| "joint_10", | |
| "joint_11", | |
| "joint_12", | |
| "joint_13", | |
| "joint_14" | |
| ] | |
| }, | |
| "fps": 1.0 | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 1.0 | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 1.0 | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 1.0 | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 1.0 | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 1.0 | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 1.0 | |
| } | |
| } | |
| } |