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aic-cheatcode-v3

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aic-cheatcode-v3
File size: 1,597 Bytes
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{
  "codebase_version": "aic_cheatcode_v0",
  "robot_type": "ur5e",
  "fps": 20,
  "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",
  "features": {
    "observation.images.left": {
      "dtype": "video"
    },
    "observation.images.center": {
      "dtype": "video"
    },
    "observation.images.right": {
      "dtype": "video"
    },
    "observation.state.joints": {
      "dtype": "float32"
    },
    "observation.state.gripper": {
      "dtype": "float32"
    },
    "observation.wrench": {
      "dtype": "float32"
    },
    "observation.tcp_pose_actual": {
      "dtype": "float32"
    },
    "observation.tcp_pose_target": {
      "dtype": "float32"
    },
    "observation.tcp_velocity": {
      "dtype": "float32"
    },
    "action.pose_command": {
      "dtype": "float32"
    },
    "action.joint_command": {
      "dtype": "float32"
    },
    "labels.port_pose_base": {
      "dtype": "float32"
    },
    "labels.plug_pose_base": {
      "dtype": "float32"
    },
    "labels.gripper_tcp_pose_base": {
      "dtype": "float32"
    },
    "labels.task_board_pose_base": {
      "dtype": "float32"
    },
    "labels.port_keypoints_3d_base": {
      "dtype": "float32"
    },
    "labels.port_keypoints_2d": {
      "dtype": "dict"
    },
    "labels.port_keypoints_visible": {
      "dtype": "dict"
    },
    "labels.port_bbox_2d": {
      "dtype": "dict"
    },
    "labels.all_ports": {
      "dtype": "list"
    }
  }
}