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{ |
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"codebase_version": "v2.1", |
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"robot_type": "g1", |
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"total_episodes": 51, |
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"total_frames": 23981, |
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"total_tasks": 1, |
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"total_videos": 51, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 20, |
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"splits": { |
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"train": "0:51" |
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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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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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19 |
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], |
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"names": { |
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"joint": [ |
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"R_pinky_intermediate_joint", |
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"R_ring_proximal_joint", |
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"R_ring_intermediate_joint", |
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"R_middle_intermediate_joint", |
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"R_thumb_intermediate_joint", |
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"R_thumb_distal_joint", |
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"R_thumb_proximal_yaw_joint", |
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"R_thumb_proximal_pitch_joint", |
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"R_index_intermediate_joint", |
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"R_middle_proximal_joint", |
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"R_pinky_proximal_joint", |
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"R_index_proximal_joint", |
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"right_shoulder_pitch_joint", |
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"right_wrist_yaw_joint", |
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"right_shoulder_yaw_joint", |
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"right_shoulder_roll_joint", |
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"right_wrist_roll_joint", |
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"right_elbow_joint", |
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"right_wrist_pitch_joint" |
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] |
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} |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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13 |
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], |
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"names": { |
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"displacement": [ |
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"right_shoulder_pitch_joint", |
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"right_shoulder_roll_joint", |
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"right_shoulder_yaw_joint", |
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"right_elbow_joint", |
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"right_wrist_roll_joint", |
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"right_wrist_pitch_joint", |
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"right_wrist_yaw_joint", |
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"R_thumb_proximal_yaw_joint", |
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"R_thumb_proximal_pitch_joint", |
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"R_index_proximal_joint", |
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"R_middle_proximal_joint", |
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"R_ring_proximal_joint", |
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"R_pinky_proximal_joint" |
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] |
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} |
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}, |
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"observation.images.head_cam": { |
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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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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 20, |
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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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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
