lyl472324464's picture
normalize task indices to contiguous 0-based values
203cfb5 verified
{
"codebase_version": "v3.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 150000,
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"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
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},
"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",
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14
],
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"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
]
},
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14
],
"names": [
[
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
]
},
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14
],
"names": [
[
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
]
},
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],
"names": [
[
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"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
]
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3,
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640
],
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},
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480,
640
],
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],
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}
},
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480,
640
],
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"height",
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],
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}
},
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3,
480,
640
],
"names": [
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"height",
"width"
],
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"video.is_depth_map": false,
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"video.channels": 3,
"has_audio": false
}
},
"task_index": {
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1
],
"names": null
},
"timestamp": {
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],
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},
"frame_index": {
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"names": null
},
"episode_index": {
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],
"names": null
},
"index": {
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"names": null
}
}
}