| { |
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| "robot_type": "multi_robot_dynamic", |
| "total_episodes": 1, |
| "total_frames": 360, |
| "total_tasks": 1, |
| "total_videos": 3, |
| "total_chunks": 1, |
| "chunks_size": 1, |
| "fps": 8.6, |
| "splits": { |
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| }, |
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| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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| "action": { |
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| ], |
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| "arm1_elbow_joint", |
| "arm1_wrist_1_joint", |
| "arm1_wrist_2_joint", |
| "arm2_wrist_3_joint", |
| "arm1_wrist_3_joint", |
| "arm2_3f_finger_b_joint_3", |
| "arm1_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_b_joint", |
| "arm2_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_c_joint", |
| "arm1_3f_finger_c_joint_2", |
| "arm2_3f_finger_a_joint_3", |
| "arm2_3f_finger_c_joint_2", |
| "arm1_3f_finger_b_joint_2", |
| "arm2_3f_finger_c_joint_1", |
| "arm2_wrist_2_joint", |
| "arm1_shoulder_pan_joint", |
| "arm1_3f_finger_c_joint_1", |
| "arm2_3f_finger_b_joint_1", |
| "arm2_shoulder_pan_joint", |
| "arm1_3f_finger_b_joint_3", |
| "arm1_3f_finger_b_joint_1", |
| "arm2_3f_finger_a_joint_2", |
| "arm1_3f_palm_finger_b_joint", |
| "arm1_3f_finger_a_joint_3", |
| "arm2_elbow_joint", |
| "arm1_3f_finger_a_joint_1", |
| "arm2_shoulder_lift_joint", |
| "arm2_3f_finger_b_joint_2", |
| "arm2_3f_finger_a_joint_1", |
| "arm1_3f_palm_finger_c_joint", |
| "arm1_3f_finger_a_joint_2", |
| "arm2_wrist_1_joint" |
| ] |
| }, |
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| ], |
| "names": [ |
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| "arm1_elbow_joint", |
| "arm1_wrist_1_joint", |
| "arm1_wrist_2_joint", |
| "arm2_wrist_3_joint", |
| "arm1_wrist_3_joint", |
| "arm2_3f_finger_b_joint_3", |
| "arm1_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_b_joint", |
| "arm2_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_c_joint", |
| "arm1_3f_finger_c_joint_2", |
| "arm2_3f_finger_a_joint_3", |
| "arm2_3f_finger_c_joint_2", |
| "arm1_3f_finger_b_joint_2", |
| "arm2_3f_finger_c_joint_1", |
| "arm2_wrist_2_joint", |
| "arm1_shoulder_pan_joint", |
| "arm1_3f_finger_c_joint_1", |
| "arm2_3f_finger_b_joint_1", |
| "arm2_shoulder_pan_joint", |
| "arm1_3f_finger_b_joint_3", |
| "arm1_3f_finger_b_joint_1", |
| "arm2_3f_finger_a_joint_2", |
| "arm1_3f_palm_finger_b_joint", |
| "arm1_3f_finger_a_joint_3", |
| "arm2_elbow_joint", |
| "arm1_3f_finger_a_joint_1", |
| "arm2_shoulder_lift_joint", |
| "arm2_3f_finger_b_joint_2", |
| "arm2_3f_finger_a_joint_1", |
| "arm1_3f_palm_finger_c_joint", |
| "arm1_3f_finger_a_joint_2", |
| "arm2_wrist_1_joint" |
| ] |
| }, |
| "timestamp": { |
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| "task_index": { |
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| "observation.images.base_camera_sensor_image_raw": { |
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| 1280, |
| 3 |
| ], |
| "names": [ |
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| "video.fps": 8.6, |
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| }, |
| "observation.images.arm2_camera_sensor_image_raw": { |
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| 1280, |
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| ], |
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| } |
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| "observation.images.arm1_camera_sensor_image_raw": { |
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| 720, |
| 1280, |
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| ], |
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| "video.fps": 8.6, |
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| "has_audio": false |
| } |
| } |
| } |
| } |
