| { |
| "schema": "axis_heldout_render_request_v2", |
| "required_rig": { |
| "note": "MUST match stage1_5k_camera_fixed EXACTLY. Verified identical across sampled tasks of Franka-Datasets-v2-5k-LIBERO and Franka-Datasets-v2-30k-LIBERO.", |
| "embodiment": "franka (default)", |
| "camera_group": "camera_fixed", |
| "wrist": { |
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| 0.05, |
| 0.0, |
| 0.0 |
| ], |
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| 0.707108, |
| 0.0 |
| ], |
| "fovy_deg": 75.0 |
| }, |
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| "camera_to_world_translation": [ |
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| 1.1904 |
| ] |
| }, |
| "source_resolution": [ |
| 640, |
| 360 |
| ], |
| "fps": 15 |
| }, |
| "n_tasks": 10, |
| "demos_per_task": 20, |
| "total_required_episodes": 200, |
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| { |
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| { |
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| { |
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| { |
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| { |
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| } |
| ] |
| } |
