| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "pipette_dual_ur5e", | |
| "total_episodes": 50, | |
| "total_frames": 258448, | |
| "total_tasks": 690, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:50" | |
| }, | |
| "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", | |
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| "observation.state": { | |
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| ], | |
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| "pip_x", | |
| "pip_y", | |
| "pip_z", | |
| "pip_r1", | |
| "pip_r2", | |
| "pip_r3", | |
| "pip_r4", | |
| "pip_r5", | |
| "pip_r6", | |
| "pip_grip", | |
| "tx_x", | |
| "tx_y", | |
| "tx_z", | |
| "tx_r1", | |
| "tx_r2", | |
| "tx_r3", | |
| "tx_r4", | |
| "tx_r5", | |
| "tx_r6", | |
| "tx_grip" | |
| ] | |
| }, | |
| "observation.joints": { | |
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| ], | |
| "names": [ | |
| "pip_q0", | |
| "pip_q1", | |
| "pip_q2", | |
| "pip_q3", | |
| "pip_q4", | |
| "pip_q5", | |
| "pip_grip_q", | |
| "tx_q0", | |
| "tx_q1", | |
| "tx_q2", | |
| "tx_q3", | |
| "tx_q4", | |
| "tx_q5", | |
| "tx_grip_q" | |
| ] | |
| }, | |
| "action": { | |
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| ], | |
| "names": [ | |
| "pip_shoulder_pan_ctrl", | |
| "pip_shoulder_lift_ctrl", | |
| "pip_elbow_ctrl", | |
| "pip_wrist_1_ctrl", | |
| "pip_wrist_2_ctrl", | |
| "pip_wrist_3_ctrl", | |
| "pip_dh_rh_thj1_ctrl", | |
| "pip_dh_rh_thj2_ctrl", | |
| "pip_dh_rh_thj3_ctrl", | |
| "pip_dh_rh_fft1_ctrl", | |
| "pip_dh_rh_ffj2_ctrl", | |
| "pip_dh_rh_fft3_ctrl", | |
| "pip_dh_rh_mfj2_ctrl", | |
| "pip_dh_rh_mft3_ctrl", | |
| "pip_dh_rh_rfj2_ctrl", | |
| "pip_dh_rh_rft3_ctrl", | |
| "pip_dh_rh_lfj2_ctrl", | |
| "pip_dh_rh_lft3_ctrl", | |
| "tx_shoulder_pan_ctrl", | |
| "tx_shoulder_lift_ctrl", | |
| "tx_elbow_ctrl", | |
| "tx_wrist_1_ctrl", | |
| "tx_wrist_2_ctrl", | |
| "tx_wrist_3_ctrl", | |
| "tx_2f85_fingers_ctrl" | |
| ] | |
| }, | |
| "observation.images.agent_front": { | |
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| 640, | |
| 3 | |
| ], | |
| "names": [ | |
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| "channels" | |
| ], | |
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| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_pip": { | |
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| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
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| ], | |
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| } | |
| }, | |
| "observation.images.wrist_tx": { | |
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| 640, | |
| 3 | |
| ], | |
| "names": [ | |
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| "channels" | |
| ], | |
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| "video.codec": "av1", | |
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| "video.fps": 30, | |
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| "has_audio": false | |
| } | |
| }, | |
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| "index": { | |
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| } | |
| } | |
| } |