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Surgical/ucsd/surgical_learning_dataset2/meta/info.json

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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+                "psm_retraction_tool_roll_joint_pos",
+                "psm_retraction_tool_pitch_joint_pos",
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+                "psm_retraction_tool_gripper_pos",
+                "psm_cutter_yaw_joint_pos",
+                "psm_cutter_pitch_end_joint_pos",
+                "psm_cutter_main_insertion_joint_pos",
+                "psm_cutter_tool_roll_joint_pos",
+                "psm_cutter_tool_pitch_joint_pos",
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+                "dPSM_RETRACTION_z",
+                "dPSM_RETRACTION_qw",
+                "dPSM_RETRACTION_qx",
+                "dPSM_RETRACTION_qy",
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+                "dPSM_RETRACTION_gripper",
+                "dPSM_CUTTER_x",
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Surgical/ucsd/surgical_learning_dataset2/meta/modality.json

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+    "psm_cutter_gripper": { "start": 13, "end": 14 }
+  },
+  "action": {
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+    "psm_retraction_gripper": { "start": 7, "end": 8 },
+    "psm_cutter_pose": { "start": 8, "end": 15 },
+    "psm_cutter_gripper": { "start": 15, "end": 16 }
+  }
+}

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