| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "single_arm", | |
| "fps": 60, | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "cam_x", | |
| "cam_y", | |
| "cam_z", | |
| "left_x", | |
| "left_y", | |
| "left_z", | |
| "right_x", | |
| "right_y", | |
| "right_z" | |
| ] | |
| } | |
| }, | |
| "observation.images.top": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 30.0, | |
| "video.codec": "mp4v", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "dx" | |
| ] | |
| } | |
| }, | |
| "total_episodes": 1, | |
| "total_frames": 1079, | |
| "chunks_size": 1000, | |
| "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" | |
| } |