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{
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"codebase_version": "v3.0",
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"robot_type": "lekiwi_client",
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"total_episodes": 49,
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"total_frames": 19538,
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"total_tasks": 1,
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"chunks_size": 1000,
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"data_files_size_in_mb": 100,
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"video_files_size_in_mb": 200,
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"fps": 30,
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"splits": {
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"train": "0:49"
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},
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"features": {
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"action": {
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"dtype": "float32",
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"shape": [
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9
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],
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"names": [
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"arm_shoulder_pan.pos",
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"arm_shoulder_lift.pos",
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"arm_elbow_flex.pos",
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"arm_wrist_flex.pos",
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"arm_wrist_roll.pos",
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"arm_gripper.pos",
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"x.vel",
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"y.vel",
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"theta.vel"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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9
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],
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"names": [
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"arm_shoulder_pan.pos",
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"arm_shoulder_lift.pos",
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"arm_elbow_flex.pos",
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"arm_wrist_flex.pos",
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"arm_wrist_roll.pos",
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"arm_gripper.pos",
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"x.vel",
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"y.vel",
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"theta.vel"
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]
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},
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"observation.images.front": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.height": 480,
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"video.width": 640,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 30,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"observation.images.wrist": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.height": 480,
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"video.width": 640,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 30,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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1
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],
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"names": null
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},
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"frame_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"episode_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"task_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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}
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}
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} |
