{ "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": { "mount": "end-effector body", "hand_to_camera_translation": [ 0.05, 0.0, 0.0 ], "quat": [ 0.0, 0.707108, 0.707108, 0.0 ], "fovy_deg": 75.0 }, "third_person": { "camera_to_world_translation": [ 1.0086, 0.0, 1.1904 ] }, "source_resolution": [ 640, 360 ], "fps": 15 }, "n_tasks": 10, "demos_per_task": 20, "total_required_episodes": 200, "tasks": [ { "task_id": 809, "name": "separate the sandwich from the juice", "operation": "separate", "n_required": 20, "required_attempt_ids": [ 749148, 740082, 746508, 747842, 764394, 763178, 741811, 739675, 764821, 763947, 748696, 740327, 764863, 764024, 764540, 765869, 748282, 764780, 766647, 748399 ], "spare_attempt_ids": [ 743762, 762513, 747947, 747225, 747295, 766663, 749015, 746604, 762654, 763223, 743672, 749357, 742234, 749000, 739818, 766677, 748791, 743606, 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