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meta/info.json

@@ -1,1465 +1,4 @@
 {
-  "dataset_name": "mini_tug_hand_pose_10tasks",
-  "task": "multi_task_hand_manipulation",
-  "robot_type": "human_hand",
-  "total_episodes": 97,
-  "total_frames": 28025,
-  "chunks_size": 1000,
-  "fps": 30.0,
-  "splits": {
-    "train": "0:97"
-  },
-  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
-  "video_path": "videos/chunk-{episode_chunk:03d}/rgb/episode_{episode_index:06d}.mp4",
-  "features": {
-    "observation.images.rgb": {
-      "dtype": "video",
-      "shape": [
-        480,
-        640,
-        3
-      ],
-      "names": [
-        "height",
-        "width",
-        "channel"
-      ],
-      "video_info": {
-        "video.fps": 30.0,
-        "video.codec": "h264/mp4v",
-        "video.pix_fmt": "yuv420p",
-        "video.is_depth_map": false,
-        "has_audio": false
-      }
-    },
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        252
-      ],
-      "names": {
-        "motors": [
-          "left_wrist_x_cm",
-          "left_wrist_y_cm",
-          "left_wrist_z_cm",
-          "left_wrist_yaw_deg",
-          "left_wrist_pitch_deg",
-          "left_wrist_roll_deg",
-          "left_thumb_cmc_x_cm",
-          "left_thumb_cmc_y_cm",
-          "left_thumb_cmc_z_cm",
-          "left_thumb_cmc_yaw_deg",
-          "left_thumb_cmc_pitch_deg",
-          "left_thumb_cmc_roll_deg",
-          "left_thumb_mcp_x_cm",
-          "left_thumb_mcp_y_cm",
-          "left_thumb_mcp_z_cm",
-          "left_thumb_mcp_yaw_deg",
-          "left_thumb_mcp_pitch_deg",
-          "left_thumb_mcp_roll_deg",
-          "left_thumb_ip_x_cm",
-          "left_thumb_ip_y_cm",
-          "left_thumb_ip_z_cm",
-          "left_thumb_ip_yaw_deg",
-          "left_thumb_ip_pitch_deg",
-          "left_thumb_ip_roll_deg",
-          "left_thumb_tip_x_cm",
-          "left_thumb_tip_y_cm",
-          "left_thumb_tip_z_cm",
-          "left_thumb_tip_yaw_deg",
-          "left_thumb_tip_pitch_deg",
-          "left_thumb_tip_roll_deg",
-          "left_index_finger_mcp_x_cm",
-          "left_index_finger_mcp_y_cm",
-          "left_index_finger_mcp_z_cm",
-          "left_index_finger_mcp_yaw_deg",
-          "left_index_finger_mcp_pitch_deg",
-          "left_index_finger_mcp_roll_deg",
-          "left_index_finger_pip_x_cm",
-          "left_index_finger_pip_y_cm",
-          "left_index_finger_pip_z_cm",
-          "left_index_finger_pip_yaw_deg",
-          "left_index_finger_pip_pitch_deg",
-          "left_index_finger_pip_roll_deg",
-          "left_index_finger_dip_x_cm",
-          "left_index_finger_dip_y_cm",
-          "left_index_finger_dip_z_cm",
-          "left_index_finger_dip_yaw_deg",
-          "left_index_finger_dip_pitch_deg",
-          "left_index_finger_dip_roll_deg",
-          "left_index_finger_tip_x_cm",
-          "left_index_finger_tip_y_cm",
-          "left_index_finger_tip_z_cm",
-          "left_index_finger_tip_yaw_deg",
-          "left_index_finger_tip_pitch_deg",
-          "left_index_finger_tip_roll_deg",
-          "left_middle_finger_mcp_x_cm",
-          "left_middle_finger_mcp_y_cm",
-          "left_middle_finger_mcp_z_cm",
-          "left_middle_finger_mcp_yaw_deg",
-          "left_middle_finger_mcp_pitch_deg",
-          "left_middle_finger_mcp_roll_deg",
-          "left_middle_finger_pip_x_cm",
-          "left_middle_finger_pip_y_cm",
-          "left_middle_finger_pip_z_cm",
-          "left_middle_finger_pip_yaw_deg",
-          "left_middle_finger_pip_pitch_deg",
-          "left_middle_finger_pip_roll_deg",
-          "left_middle_finger_dip_x_cm",
-          "left_middle_finger_dip_y_cm",
-          "left_middle_finger_dip_z_cm",
-          "left_middle_finger_dip_yaw_deg",
-          "left_middle_finger_dip_pitch_deg",
-          "left_middle_finger_dip_roll_deg",
-          "left_middle_finger_tip_x_cm",
-          "left_middle_finger_tip_y_cm",
-          "left_middle_finger_tip_z_cm",
-          "left_middle_finger_tip_yaw_deg",
-          "left_middle_finger_tip_pitch_deg",
-          "left_middle_finger_tip_roll_deg",
-          "left_ring_finger_mcp_x_cm",
-          "left_ring_finger_mcp_y_cm",
-          "left_ring_finger_mcp_z_cm",
-          "left_ring_finger_mcp_yaw_deg",
-          "left_ring_finger_mcp_pitch_deg",
-          "left_ring_finger_mcp_roll_deg",
-          "left_ring_finger_pip_x_cm",
-          "left_ring_finger_pip_y_cm",
-          "left_ring_finger_pip_z_cm",
-          "left_ring_finger_pip_yaw_deg",
-          "left_ring_finger_pip_pitch_deg",
-          "left_ring_finger_pip_roll_deg",
-          "left_ring_finger_dip_x_cm",
-          "left_ring_finger_dip_y_cm",
-          "left_ring_finger_dip_z_cm",
-          "left_ring_finger_dip_yaw_deg",
-          "left_ring_finger_dip_pitch_deg",
-          "left_ring_finger_dip_roll_deg",
-          "left_ring_finger_tip_x_cm",
-          "left_ring_finger_tip_y_cm",
-          "left_ring_finger_tip_z_cm",
-          "left_ring_finger_tip_yaw_deg",
-          "left_ring_finger_tip_pitch_deg",
-          "left_ring_finger_tip_roll_deg",
-          "left_pinky_mcp_x_cm",
-          "left_pinky_mcp_y_cm",
-          "left_pinky_mcp_z_cm",
-          "left_pinky_mcp_yaw_deg",
-          "left_pinky_mcp_pitch_deg",
-          "left_pinky_mcp_roll_deg",
-          "left_pinky_pip_x_cm",
-          "left_pinky_pip_y_cm",
-          "left_pinky_pip_z_cm",
-          "left_pinky_pip_yaw_deg",
-          "left_pinky_pip_pitch_deg",
-          "left_pinky_pip_roll_deg",
-          "left_pinky_dip_x_cm",
-          "left_pinky_dip_y_cm",
-          "left_pinky_dip_z_cm",
-          "left_pinky_dip_yaw_deg",
-          "left_pinky_dip_pitch_deg",
-          "left_pinky_dip_roll_deg",
-          "left_pinky_tip_x_cm",
-          "left_pinky_tip_y_cm",
-          "left_pinky_tip_z_cm",
-          "left_pinky_tip_yaw_deg",
-          "left_pinky_tip_pitch_deg",
-          "left_pinky_tip_roll_deg",
-          "right_wrist_x_cm",
-          "right_wrist_y_cm",
-          "right_wrist_z_cm",
-          "right_wrist_yaw_deg",
-          "right_wrist_pitch_deg",
-          "right_wrist_roll_deg",
-          "right_thumb_cmc_x_cm",
-          "right_thumb_cmc_y_cm",
-          "right_thumb_cmc_z_cm",
-          "right_thumb_cmc_yaw_deg",
-          "right_thumb_cmc_pitch_deg",
-          "right_thumb_cmc_roll_deg",
-          "right_thumb_mcp_x_cm",
-          "right_thumb_mcp_y_cm",
-          "right_thumb_mcp_z_cm",
-          "right_thumb_mcp_yaw_deg",
-          "right_thumb_mcp_pitch_deg",
-          "right_thumb_mcp_roll_deg",
-          "right_thumb_ip_x_cm",
-          "right_thumb_ip_y_cm",
-          "right_thumb_ip_z_cm",
-          "right_thumb_ip_yaw_deg",
-          "right_thumb_ip_pitch_deg",
-          "right_thumb_ip_roll_deg",
-          "right_thumb_tip_x_cm",
-          "right_thumb_tip_y_cm",
-          "right_thumb_tip_z_cm",
-          "right_thumb_tip_yaw_deg",
-          "right_thumb_tip_pitch_deg",
-          "right_thumb_tip_roll_deg",
-          "right_index_finger_mcp_x_cm",
-          "right_index_finger_mcp_y_cm",
-          "right_index_finger_mcp_z_cm",
-          "right_index_finger_mcp_yaw_deg",
-          "right_index_finger_mcp_pitch_deg",
-          "right_index_finger_mcp_roll_deg",
-          "right_index_finger_pip_x_cm",
-          "right_index_finger_pip_y_cm",
-          "right_index_finger_pip_z_cm",
-          "right_index_finger_pip_yaw_deg",
-          "right_index_finger_pip_pitch_deg",
-          "right_index_finger_pip_roll_deg",
-          "right_index_finger_dip_x_cm",
-          "right_index_finger_dip_y_cm",
-          "right_index_finger_dip_z_cm",
-          "right_index_finger_dip_yaw_deg",
-          "right_index_finger_dip_pitch_deg",
-          "right_index_finger_dip_roll_deg",
-          "right_index_finger_tip_x_cm",
-          "right_index_finger_tip_y_cm",
-          "right_index_finger_tip_z_cm",
-          "right_index_finger_tip_yaw_deg",
-          "right_index_finger_tip_pitch_deg",
-          "right_index_finger_tip_roll_deg",
-          "right_middle_finger_mcp_x_cm",
-          "right_middle_finger_mcp_y_cm",
-          "right_middle_finger_mcp_z_cm",
-          "right_middle_finger_mcp_yaw_deg",
-          "right_middle_finger_mcp_pitch_deg",
-          "right_middle_finger_mcp_roll_deg",
-          "right_middle_finger_pip_x_cm",
-          "right_middle_finger_pip_y_cm",
-          "right_middle_finger_pip_z_cm",
-          "right_middle_finger_pip_yaw_deg",
-          "right_middle_finger_pip_pitch_deg",
-          "right_middle_finger_pip_roll_deg",
-          "right_middle_finger_dip_x_cm",
-          "right_middle_finger_dip_y_cm",
-          "right_middle_finger_dip_z_cm",
-          "right_middle_finger_dip_yaw_deg",
-          "right_middle_finger_dip_pitch_deg",
-          "right_middle_finger_dip_roll_deg",
-          "right_middle_finger_tip_x_cm",
-          "right_middle_finger_tip_y_cm",
-          "right_middle_finger_tip_z_cm",
-          "right_middle_finger_tip_yaw_deg",
-          "right_middle_finger_tip_pitch_deg",
-          "right_middle_finger_tip_roll_deg",
-          "right_ring_finger_mcp_x_cm",
-          "right_ring_finger_mcp_y_cm",
-          "right_ring_finger_mcp_z_cm",
-          "right_ring_finger_mcp_yaw_deg",
-          "right_ring_finger_mcp_pitch_deg",
-          "right_ring_finger_mcp_roll_deg",
-          "right_ring_finger_pip_x_cm",
-          "right_ring_finger_pip_y_cm",
-          "right_ring_finger_pip_z_cm",
-          "right_ring_finger_pip_yaw_deg",
-          "right_ring_finger_pip_pitch_deg",
-          "right_ring_finger_pip_roll_deg",
-          "right_ring_finger_dip_x_cm",
-          "right_ring_finger_dip_y_cm",
-          "right_ring_finger_dip_z_cm",
-          "right_ring_finger_dip_yaw_deg",
-          "right_ring_finger_dip_pitch_deg",
-          "right_ring_finger_dip_roll_deg",
-          "right_ring_finger_tip_x_cm",
-          "right_ring_finger_tip_y_cm",
-          "right_ring_finger_tip_z_cm",
-          "right_ring_finger_tip_yaw_deg",
-          "right_ring_finger_tip_pitch_deg",
-          "right_ring_finger_tip_roll_deg",
-          "right_pinky_mcp_x_cm",
-          "right_pinky_mcp_y_cm",
-          "right_pinky_mcp_z_cm",
-          "right_pinky_mcp_yaw_deg",
-          "right_pinky_mcp_pitch_deg",
-          "right_pinky_mcp_roll_deg",
-          "right_pinky_pip_x_cm",
-          "right_pinky_pip_y_cm",
-          "right_pinky_pip_z_cm",
-          "right_pinky_pip_yaw_deg",
-          "right_pinky_pip_pitch_deg",
-          "right_pinky_pip_roll_deg",
-          "right_pinky_dip_x_cm",
-          "right_pinky_dip_y_cm",
-          "right_pinky_dip_z_cm",
-          "right_pinky_dip_yaw_deg",
-          "right_pinky_dip_pitch_deg",
-          "right_pinky_dip_roll_deg",
-          "right_pinky_tip_x_cm",
-          "right_pinky_tip_y_cm",
-          "right_pinky_tip_z_cm",
-          "right_pinky_tip_yaw_deg",
-          "right_pinky_tip_pitch_deg",
-          "right_pinky_tip_roll_deg"
-        ]
-      }
-    },
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        252
-      ],
-      "names": {
-        "motors": [
-          "left_wrist_x_cm",
-          "left_wrist_y_cm",
-          "left_wrist_z_cm",
-          "left_wrist_yaw_deg",
-          "left_wrist_pitch_deg",
-          "left_wrist_roll_deg",
-          "left_thumb_cmc_x_cm",
-          "left_thumb_cmc_y_cm",
-          "left_thumb_cmc_z_cm",
-          "left_thumb_cmc_yaw_deg",
-          "left_thumb_cmc_pitch_deg",
-          "left_thumb_cmc_roll_deg",
-          "left_thumb_mcp_x_cm",
-          "left_thumb_mcp_y_cm",
-          "left_thumb_mcp_z_cm",
-          "left_thumb_mcp_yaw_deg",
-          "left_thumb_mcp_pitch_deg",
-          "left_thumb_mcp_roll_deg",
-          "left_thumb_ip_x_cm",
-          "left_thumb_ip_y_cm",
-          "left_thumb_ip_z_cm",
-          "left_thumb_ip_yaw_deg",
-          "left_thumb_ip_pitch_deg",
-          "left_thumb_ip_roll_deg",
-          "left_thumb_tip_x_cm",
-          "left_thumb_tip_y_cm",
-          "left_thumb_tip_z_cm",
-          "left_thumb_tip_yaw_deg",
-          "left_thumb_tip_pitch_deg",
-          "left_thumb_tip_roll_deg",
-          "left_index_finger_mcp_x_cm",
-          "left_index_finger_mcp_y_cm",
-          "left_index_finger_mcp_z_cm",
-          "left_index_finger_mcp_yaw_deg",
-          "left_index_finger_mcp_pitch_deg",
-          "left_index_finger_mcp_roll_deg",
-          "left_index_finger_pip_x_cm",
-          "left_index_finger_pip_y_cm",
-          "left_index_finger_pip_z_cm",
-          "left_index_finger_pip_yaw_deg",
-          "left_index_finger_pip_pitch_deg",
-          "left_index_finger_pip_roll_deg",
-          "left_index_finger_dip_x_cm",
-          "left_index_finger_dip_y_cm",
-          "left_index_finger_dip_z_cm",
-          "left_index_finger_dip_yaw_deg",
-          "left_index_finger_dip_pitch_deg",
-          "left_index_finger_dip_roll_deg",
-          "left_index_finger_tip_x_cm",
-          "left_index_finger_tip_y_cm",
-          "left_index_finger_tip_z_cm",
-          "left_index_finger_tip_yaw_deg",
-          "left_index_finger_tip_pitch_deg",
-          "left_index_finger_tip_roll_deg",
-          "left_middle_finger_mcp_x_cm",
-          "left_middle_finger_mcp_y_cm",
-          "left_middle_finger_mcp_z_cm",
-          "left_middle_finger_mcp_yaw_deg",
-          "left_middle_finger_mcp_pitch_deg",
-          "left_middle_finger_mcp_roll_deg",
-          "left_middle_finger_pip_x_cm",
-          "left_middle_finger_pip_y_cm",
-          "left_middle_finger_pip_z_cm",
-          "left_middle_finger_pip_yaw_deg",
-          "left_middle_finger_pip_pitch_deg",
-          "left_middle_finger_pip_roll_deg",
-          "left_middle_finger_dip_x_cm",
-          "left_middle_finger_dip_y_cm",
-          "left_middle_finger_dip_z_cm",
-          "left_middle_finger_dip_yaw_deg",
-          "left_middle_finger_dip_pitch_deg",
-          "left_middle_finger_dip_roll_deg",
-          "left_middle_finger_tip_x_cm",
-          "left_middle_finger_tip_y_cm",
-          "left_middle_finger_tip_z_cm",
-          "left_middle_finger_tip_yaw_deg",
-          "left_middle_finger_tip_pitch_deg",
-          "left_middle_finger_tip_roll_deg",
-          "left_ring_finger_mcp_x_cm",
-          "left_ring_finger_mcp_y_cm",
-          "left_ring_finger_mcp_z_cm",
-          "left_ring_finger_mcp_yaw_deg",
-          "left_ring_finger_mcp_pitch_deg",
-          "left_ring_finger_mcp_roll_deg",
-          "left_ring_finger_pip_x_cm",
-          "left_ring_finger_pip_y_cm",
-          "left_ring_finger_pip_z_cm",
-          "left_ring_finger_pip_yaw_deg",
-          "left_ring_finger_pip_pitch_deg",
-          "left_ring_finger_pip_roll_deg",
-          "left_ring_finger_dip_x_cm",
-          "left_ring_finger_dip_y_cm",
-          "left_ring_finger_dip_z_cm",
-          "left_ring_finger_dip_yaw_deg",
-          "left_ring_finger_dip_pitch_deg",
-          "left_ring_finger_dip_roll_deg",
-          "left_ring_finger_tip_x_cm",
-          "left_ring_finger_tip_y_cm",
-          "left_ring_finger_tip_z_cm",
-          "left_ring_finger_tip_yaw_deg",
-          "left_ring_finger_tip_pitch_deg",
-          "left_ring_finger_tip_roll_deg",
-          "left_pinky_mcp_x_cm",
-          "left_pinky_mcp_y_cm",
-          "left_pinky_mcp_z_cm",
-          "left_pinky_mcp_yaw_deg",
-          "left_pinky_mcp_pitch_deg",
-          "left_pinky_mcp_roll_deg",
-          "left_pinky_pip_x_cm",
-          "left_pinky_pip_y_cm",
-          "left_pinky_pip_z_cm",
-          "left_pinky_pip_yaw_deg",
-          "left_pinky_pip_pitch_deg",
-          "left_pinky_pip_roll_deg",
-          "left_pinky_dip_x_cm",
-          "left_pinky_dip_y_cm",
-          "left_pinky_dip_z_cm",
-          "left_pinky_dip_yaw_deg",
-          "left_pinky_dip_pitch_deg",
-          "left_pinky_dip_roll_deg",
-          "left_pinky_tip_x_cm",
-          "left_pinky_tip_y_cm",
-          "left_pinky_tip_z_cm",
-          "left_pinky_tip_yaw_deg",
-          "left_pinky_tip_pitch_deg",
-          "left_pinky_tip_roll_deg",
-          "right_wrist_x_cm",
-          "right_wrist_y_cm",
-          "right_wrist_z_cm",
-          "right_wrist_yaw_deg",
-          "right_wrist_pitch_deg",
-          "right_wrist_roll_deg",
-          "right_thumb_cmc_x_cm",
-          "right_thumb_cmc_y_cm",
-          "right_thumb_cmc_z_cm",
-          "right_thumb_cmc_yaw_deg",
-          "right_thumb_cmc_pitch_deg",
-          "right_thumb_cmc_roll_deg",
-          "right_thumb_mcp_x_cm",
-          "right_thumb_mcp_y_cm",
-          "right_thumb_mcp_z_cm",
-          "right_thumb_mcp_yaw_deg",
-          "right_thumb_mcp_pitch_deg",
-          "right_thumb_mcp_roll_deg",
-          "right_thumb_ip_x_cm",
-          "right_thumb_ip_y_cm",
-          "right_thumb_ip_z_cm",
-          "right_thumb_ip_yaw_deg",
-          "right_thumb_ip_pitch_deg",
-          "right_thumb_ip_roll_deg",
-          "right_thumb_tip_x_cm",
-          "right_thumb_tip_y_cm",
-          "right_thumb_tip_z_cm",
-          "right_thumb_tip_yaw_deg",
-          "right_thumb_tip_pitch_deg",
-          "right_thumb_tip_roll_deg",
-          "right_index_finger_mcp_x_cm",
-          "right_index_finger_mcp_y_cm",
-          "right_index_finger_mcp_z_cm",
-          "right_index_finger_mcp_yaw_deg",
-          "right_index_finger_mcp_pitch_deg",
-          "right_index_finger_mcp_roll_deg",
-          "right_index_finger_pip_x_cm",
-          "right_index_finger_pip_y_cm",
-          "right_index_finger_pip_z_cm",
-          "right_index_finger_pip_yaw_deg",
-          "right_index_finger_pip_pitch_deg",
-          "right_index_finger_pip_roll_deg",
-          "right_index_finger_dip_x_cm",
-          "right_index_finger_dip_y_cm",
-          "right_index_finger_dip_z_cm",
-          "right_index_finger_dip_yaw_deg",
-          "right_index_finger_dip_pitch_deg",
-          "right_index_finger_dip_roll_deg",
-          "right_index_finger_tip_x_cm",
-          "right_index_finger_tip_y_cm",
-          "right_index_finger_tip_z_cm",
-          "right_index_finger_tip_yaw_deg",
-          "right_index_finger_tip_pitch_deg",
-          "right_index_finger_tip_roll_deg",
-          "right_middle_finger_mcp_x_cm",
-          "right_middle_finger_mcp_y_cm",
-          "right_middle_finger_mcp_z_cm",
-          "right_middle_finger_mcp_yaw_deg",
-          "right_middle_finger_mcp_pitch_deg",
-          "right_middle_finger_mcp_roll_deg",
-          "right_middle_finger_pip_x_cm",
-          "right_middle_finger_pip_y_cm",
-          "right_middle_finger_pip_z_cm",
-          "right_middle_finger_pip_yaw_deg",
-          "right_middle_finger_pip_pitch_deg",
-          "right_middle_finger_pip_roll_deg",
-          "right_middle_finger_dip_x_cm",
-          "right_middle_finger_dip_y_cm",
-          "right_middle_finger_dip_z_cm",
-          "right_middle_finger_dip_yaw_deg",
-          "right_middle_finger_dip_pitch_deg",
-          "right_middle_finger_dip_roll_deg",
-          "right_middle_finger_tip_x_cm",
-          "right_middle_finger_tip_y_cm",
-          "right_middle_finger_tip_z_cm",
-          "right_middle_finger_tip_yaw_deg",
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