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| "codebase_version": "v3.0", | |
| "robot_type": "burger", | |
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| "total_frames": 30702, | |
| "total_tasks": 3, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 20, | |
| "splits": { | |
| "train": "0:108" | |
| }, | |
| "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", | |
| "features": { | |
| "observation.images.front": { | |
| "dtype": "video", | |
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| 512, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
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| "video.width": 512, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
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| 14 | |
| ], | |
| "names": [ | |
| "velocity.wheel_left_joint", | |
| "velocity.wheel_right_joint", | |
| "twist.twist.linear.x", | |
| "twist.twist.linear.y", | |
| "twist.twist.linear.z", | |
| "twist.twist.angular.x", | |
| "twist.twist.angular.y", | |
| "twist.twist.angular.z", | |
| "angular_velocity.x", | |
| "angular_velocity.y", | |
| "angular_velocity.z", | |
| "linear_acceleration.x", | |
| "linear_acceleration.y", | |
| "linear_acceleration.z" | |
| ] | |
| }, | |
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| ], | |
| "names": [ | |
| "linear.x", | |
| "angular.z" | |
| ] | |
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| "episode_index": { | |
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| } | |
| }, | |
| "rosetta_fingerprint": "1363c08506becc69" | |
| } |