| { | |
| "codebase_version": "v3.0", | |
| "fps": 30, | |
| "features": { | |
| "observation.state": { | |
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| ], | |
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| "arm_left.joint1", | |
| "arm_left.joint2", | |
| "arm_left.joint3", | |
| "arm_left.joint4", | |
| "arm_left.joint5", | |
| "arm_left.joint6", | |
| "arm_left.joint7", | |
| "arm_right.joint1", | |
| "arm_right.joint2", | |
| "arm_right.joint3", | |
| "arm_right.joint4", | |
| "arm_right.joint5", | |
| "arm_right.joint6", | |
| "arm_right.joint7", | |
| "gripper_left.j_1_1", | |
| "gripper_left.j_1_2", | |
| "gripper_left.j_1_3", | |
| "gripper_left.j_1_4", | |
| "gripper_left.j_2_1", | |
| "gripper_left.j_2_2", | |
| "gripper_left.j_2_3", | |
| "gripper_left.j_2_4", | |
| "gripper_left.j_3_1", | |
| "gripper_left.j_3_2", | |
| "gripper_left.j_3_3", | |
| "gripper_left.j_3_4", | |
| "gripper_right.j_1_1", | |
| "gripper_right.j_1_2", | |
| "gripper_right.j_1_3", | |
| "gripper_right.j_1_4", | |
| "gripper_right.j_2_1", | |
| "gripper_right.j_2_2", | |
| "gripper_right.j_2_3", | |
| "gripper_right.j_2_4", | |
| "gripper_right.j_3_1", | |
| "gripper_right.j_3_2", | |
| "gripper_right.j_3_3", | |
| "gripper_right.j_3_4" | |
| ] | |
| }, | |
| "action": { | |
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| ], | |
| "names": [ | |
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| "arm_left.joint2", | |
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| "arm_right.joint1", | |
| "arm_right.joint2", | |
| "arm_right.joint3", | |
| "arm_right.joint4", | |
| "arm_right.joint5", | |
| "arm_right.joint6", | |
| "arm_right.joint7", | |
| "gripper_left", | |
| "gripper_right" | |
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| 720, | |
| 1280 | |
| ], | |
| "names": [ | |
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| "video.codec": "av1", | |
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| "video.fps": 30, | |
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| 424 | |
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| "names": [ | |
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| }, | |
| "observation.images.right_wrist": { | |
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| 240, | |
| 424 | |
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| "names": [ | |
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| } | |
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| "timestamp": { | |
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| "episode_index": { | |
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| "task_index": { | |
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| }, | |
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| "total_frames": 314767, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", | |
| "robot_type": null, | |
| "splits": { | |
| "train": "0:175" | |
| } | |
| } |