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| "robot_type": "g1d", |
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| "total_frames": 100143, |
| "total_tasks": 4, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
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| }, |
| "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": { |
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| "dtype": "float32", |
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| ], |
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| "left_shoulder_roll.pos", |
| "left_shoulder_yaw.pos", |
| "left_elbow.pos", |
| "left_wrist_roll.pos", |
| "left_wrist_pitch.pos", |
| "left_wrist_yaw.pos", |
| "right_shoulder_pitch.pos", |
| "right_shoulder_roll.pos", |
| "right_shoulder_yaw.pos", |
| "right_elbow.pos", |
| "right_wrist_roll.pos", |
| "right_wrist_pitch.pos", |
| "right_wrist_yaw.pos", |
| "left_thumb.pos", |
| "left_thumb_aux.pos", |
| "left_index.pos", |
| "left_middle.pos", |
| "left_ring.pos", |
| "left_pinky.pos", |
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| "right_thumb_aux.pos", |
| "right_index.pos", |
| "right_middle.pos", |
| "right_ring.pos", |
| "right_pinky.pos" |
| ] |
| }, |
| "action": { |
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| ], |
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| "left_shoulder_roll.pos", |
| "left_shoulder_yaw.pos", |
| "left_elbow.pos", |
| "left_wrist_roll.pos", |
| "left_wrist_pitch.pos", |
| "left_wrist_yaw.pos", |
| "right_shoulder_pitch.pos", |
| "right_shoulder_roll.pos", |
| "right_shoulder_yaw.pos", |
| "right_elbow.pos", |
| "right_wrist_roll.pos", |
| "right_wrist_pitch.pos", |
| "right_wrist_yaw.pos", |
| "left_thumb.pos", |
| "left_thumb_aux.pos", |
| "left_index.pos", |
| "left_middle.pos", |
| "left_ring.pos", |
| "left_pinky.pos", |
| "right_thumb.pos", |
| "right_thumb_aux.pos", |
| "right_index.pos", |
| "right_middle.pos", |
| "right_ring.pos", |
| "right_pinky.pos" |
| ] |
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| 480, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
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| "video.width": 1280, |
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| "has_audio": false |
| } |
| }, |
| "observation.images.left_wrist": { |
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| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
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| "video.fps": 30, |
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| } |
| }, |
| "observation.images.right_wrist": { |
| "dtype": "video", |
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| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
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| "info": { |
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| "video.width": 640, |
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| }, |
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| }, |
| "phase": { |
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| }, |
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| }, |
| "episode_index": { |
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| }, |
| "index": { |
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| }, |
| "task_index": { |
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| } |
| } |
| } |
