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| "fps": 30, |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
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| ], |
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| "left_2_joint", |
| "left_3_joint", |
| "left_4_joint", |
| "left_5_joint", |
| "left_6_joint", |
| "left_7_joint", |
| "left_gripper", |
| "right_1_joint", |
| "right_2_joint", |
| "right_3_joint", |
| "right_4_joint", |
| "right_5_joint", |
| "right_6_joint", |
| "right_7_joint", |
| "right_gripper" |
| ] |
| }, |
| "action": { |
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| "left_2_joint", |
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| "left_5_joint", |
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| "left_7_joint", |
| "left_gripper", |
| "right_1_joint", |
| "right_2_joint", |
| "right_3_joint", |
| "right_4_joint", |
| "right_5_joint", |
| "right_6_joint", |
| "right_7_joint", |
| "right_gripper" |
| ] |
| }, |
| "observation.images.left_wrist_camera": { |
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| 640, |
| 3 |
| ], |
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| "video.video_backend": "pyav", |
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| } |
| }, |
| "observation.images.right_wrist_camera": { |
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| 640, |
| 3 |
| ], |
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| "width", |
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| "video.video_backend": "pyav", |
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| } |
| }, |
| "observation.images.middle_camera": { |
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| 640, |
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| ], |
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| "width", |
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| "video.video_backend": "pyav", |
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| } |
| }, |
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| }, |
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| }, |
| "index": { |
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| "task_index": { |
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| "subtask_index": { |
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| "task_index_high_level": { |
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| } |
| }, |
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| "total_frames": 1633, |
| "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": "e1", |
| "splits": { |
| "train": "0:3" |
| }, |
| "has_subtasks": true |
| } |
