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{ |
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"codebase_version": "v2.1", |
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"robot_type": "multi_robot_dynamic", |
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"total_episodes": 15, |
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"num_episodes": 15, |
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"total_frames": 11989, |
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"total_steps": 11989, |
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"total_tasks": 1, |
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"total_videos": 3, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 14.3, |
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"splits": { |
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"train": "0:15" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"action": { |
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34 |
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"left_arm_wrist_2_joint", |
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"left_arm_3f_finger_c_joint_1", |
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"right_arm_3f_palm_finger_b_joint", |
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"left_arm_3f_finger_a_joint_3", |
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"right_arm_wrist_3_joint", |
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"left_arm_elbow_joint", |
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"right_arm_3f_finger_b_joint_2", |
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"left_arm_shoulder_lift_joint", |
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"right_arm_3f_finger_c_joint_2", |
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"left_arm_3f_palm_finger_c_joint", |
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"right_arm_3f_finger_a_joint_2", |
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"right_arm_3f_finger_b_joint_1", |
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"right_arm_3f_finger_b_joint_3", |
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"right_arm_3f_finger_a_joint_1", |
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"right_arm_3f_finger_c_joint_1", |
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"right_arm_3f_finger_a_joint_3", |
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"left_arm_3f_finger_b_joint_3", |
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"right_arm_shoulder_lift_joint", |
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"right_arm_shoulder_pan_joint", |
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"right_arm_wrist_2_joint", |
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"right_arm_elbow_joint", |
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"left_arm_3f_finger_c_joint_3", |
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"left_arm_shoulder_pan_joint", |
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"left_arm_3f_finger_c_joint_2", |
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"right_arm_3f_finger_c_joint_3", |
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"right_arm_3f_palm_finger_c_joint", |
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"left_arm_3f_finger_b_joint_2", |
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"left_arm_3f_finger_b_joint_1", |
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"left_arm_3f_palm_finger_b_joint", |
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"left_arm_3f_finger_a_joint_2", |
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"left_arm_3f_finger_a_joint_1", |
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"left_arm_wrist_1_joint", |
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"right_arm_wrist_1_joint", |
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"left_arm_wrist_3_joint" |
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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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34 |
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], |
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"names": [ |
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"left_arm_wrist_2_joint", |
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"left_arm_3f_finger_c_joint_1", |
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"right_arm_3f_palm_finger_b_joint", |
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"left_arm_3f_finger_a_joint_3", |
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"right_arm_wrist_3_joint", |
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"left_arm_elbow_joint", |
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"right_arm_3f_finger_b_joint_2", |
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"left_arm_shoulder_lift_joint", |
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"right_arm_3f_finger_c_joint_2", |
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"left_arm_3f_palm_finger_c_joint", |
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"right_arm_3f_finger_a_joint_2", |
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"right_arm_3f_finger_b_joint_1", |
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"right_arm_3f_finger_b_joint_3", |
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"right_arm_3f_finger_a_joint_1", |
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"right_arm_3f_finger_c_joint_1", |
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"right_arm_3f_finger_a_joint_3", |
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"left_arm_3f_finger_b_joint_3", |
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"right_arm_shoulder_lift_joint", |
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"right_arm_shoulder_pan_joint", |
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"right_arm_wrist_2_joint", |
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"right_arm_elbow_joint", |
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"left_arm_3f_finger_c_joint_3", |
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"left_arm_shoulder_pan_joint", |
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"left_arm_3f_finger_c_joint_2", |
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"right_arm_3f_finger_c_joint_3", |
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"right_arm_3f_palm_finger_c_joint", |
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"left_arm_3f_finger_b_joint_2", |
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"left_arm_3f_finger_b_joint_1", |
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"left_arm_3f_palm_finger_b_joint", |
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"left_arm_3f_finger_a_joint_2", |
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"left_arm_3f_finger_a_joint_1", |
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"left_arm_wrist_1_joint", |
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"right_arm_wrist_1_joint", |
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"left_arm_wrist_3_joint" |
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] |
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}, |
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"timestamp": { |
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}, |
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"observation.images.right_arm_camera_sensor_image_compressed": { |
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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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"height", |
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"width", |
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"channels" |
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} |
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}, |
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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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"height", |
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"width", |
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"channels" |
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} |
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}, |
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"dtype": "video", |
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"shape": [ |
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720, |
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1280, |
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3 |
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], |
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"height", |
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"width", |
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"channels" |
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"video.width": 1280, |
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"video.pix_fmt": "yuv420p", |
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"video.fps": 14.3, |
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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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} |
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} |
