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dexterious_box

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dexterious_box
File size: 2,733 Bytes 
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{
  "codebase_version": "v2.1",
  "robot_type": "r1_humanoid",
  "total_episodes": 77,
  "total_frames": 44886,
  "total_tasks": 1,
  "fps": 10,
  "splits": {
    "train": "0:77"
  },
  "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": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        17
      ],
      "names": [
        "right_shoulder_link_joint",
        "right_arm_top_link_joint",
        "right_arm_bottom_link_joint",
        "right_forearm_link_joint",
        "wrist_pitch_joint_r",
        "wrist_roll_joint_r",
        "thumb_joint_roll_r",
        "index_proximal_joint_r",
        "middle_proximal_joint_r",
        "ring_proximal_joint_r",
        "little_proximal_joint_r",
        "thumb_proximal_joint_r",
        "index_proximal_joint_r_1",
        "middle_proximal_joint_r_1",
        "ring_proximal_joint_r_1",
        "little_proximal_joint_r_1",
        "thumb_proximal_joint_r_1"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        17
      ],
      "names": [
        "right_shoulder_link_joint",
        "right_arm_top_link_joint",
        "right_arm_bottom_link_joint",
        "right_forearm_link_joint",
        "wrist_pitch_joint_r",
        "wrist_roll_joint_r",
        "thumb_joint_roll_r",
        "index_proximal_joint_r",
        "middle_proximal_joint_r",
        "ring_proximal_joint_r",
        "little_proximal_joint_r",
        "thumb_proximal_joint_r",
        "index_proximal_joint_r_1",
        "middle_proximal_joint_r_1",
        "ring_proximal_joint_r_1",
        "little_proximal_joint_r_1",
        "thumb_proximal_joint_r_1"
      ]
    },
    "observation.images.rgb": {
      "dtype": "video",
      "shape": [
        360,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.fps": 10,
        "video.height": 360,
        "video.width": 640,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p"
      }
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    }
  },
  "chunks_size": 1000
}