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| "codebase_version": "v3.0", |
| "fps": 20, |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
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| ], |
| "names": [ |
| "left_joint_1", |
| "left_joint_2", |
| "left_joint_3", |
| "left_joint_4", |
| "left_joint_5", |
| "left_joint_6", |
| "left_gripper", |
| "right_joint_1", |
| "right_joint_2", |
| "right_joint_3", |
| "right_joint_4", |
| "right_joint_5", |
| "right_joint_6", |
| "right_gripper" |
| ] |
| }, |
| "action": { |
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| ], |
| "names": [ |
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| "left_joint_4", |
| "left_joint_5", |
| "left_joint_6", |
| "left_gripper", |
| "right_joint_1", |
| "right_joint_2", |
| "right_joint_3", |
| "right_joint_4", |
| "right_joint_5", |
| "right_joint_6", |
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| ] |
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| ], |
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| "cube_left_y", |
| "cube_left_z", |
| "cube_left_qw", |
| "cube_left_qx", |
| "cube_left_qy", |
| "cube_left_qz", |
| "cube_centre_x", |
| "cube_centre_y", |
| "cube_centre_z", |
| "cube_centre_qw", |
| "cube_centre_qx", |
| "cube_centre_qy", |
| "cube_centre_qz", |
| "cube_right_x", |
| "cube_right_y", |
| "cube_right_z", |
| "cube_right_qw", |
| "cube_right_qx", |
| "cube_right_qy", |
| "cube_right_qz" |
| ] |
| }, |
| "observation.ee": { |
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| ], |
| "names": [ |
| "left_ee_pos_x", |
| "left_ee_pos_y", |
| "left_ee_pos_z", |
| "left_ee_rot6d_1", |
| "left_ee_rot6d_2", |
| "left_ee_rot6d_3", |
| "left_ee_rot6d_4", |
| "left_ee_rot6d_5", |
| "left_ee_rot6d_6", |
| "left_gripper", |
| "right_ee_pos_x", |
| "right_ee_pos_y", |
| "right_ee_pos_z", |
| "right_ee_rot6d_1", |
| "right_ee_rot6d_2", |
| "right_ee_rot6d_3", |
| "right_ee_rot6d_4", |
| "right_ee_rot6d_5", |
| "right_ee_rot6d_6", |
| "right_gripper" |
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| }, |
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| ], |
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| "left_ee_pos_y", |
| "left_ee_pos_z", |
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| "left_ee_rot6d_2", |
| "left_ee_rot6d_3", |
| "left_ee_rot6d_4", |
| "left_ee_rot6d_5", |
| "left_ee_rot6d_6", |
| "left_gripper", |
| "right_ee_pos_x", |
| "right_ee_pos_y", |
| "right_ee_pos_z", |
| "right_ee_rot6d_1", |
| "right_ee_rot6d_2", |
| "right_ee_rot6d_3", |
| "right_ee_rot6d_4", |
| "right_ee_rot6d_5", |
| "right_ee_rot6d_6", |
| "right_gripper" |
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| }, |
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| 640, |
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| ], |
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| "width", |
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| "video.video_backend": "pyav", |
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| "is_depth_map": false |
| } |
| }, |
| "observation.images.left_wrist": { |
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| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
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| "video.video_backend": "pyav", |
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| "is_depth_map": false |
| } |
| }, |
| "observation.images.right_wrist": { |
| "dtype": "video", |
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| 480, |
| 640, |
| 3 |
| ], |
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| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
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| "video.video_backend": "pyav", |
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| } |
| }, |
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| "task_index": { |
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| } |
| }, |
| "total_episodes": 50, |
| "total_frames": 28723, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "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", |
| "robot_type": "bi_yam_sim", |
| "splits": { |
| "train": "0:50" |
| } |
| } |
