| { |
| "codebase_version": "v3.0", |
| "robot_type": "alex", |
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| "total_frames": 4010, |
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| "chunks_size": 1000, |
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| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
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| 640, |
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| 640, |
| 3 |
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| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
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| 48 |
| ], |
| "names": { |
| "motors": [ |
| "left_gripper_x", |
| "left_gripper_y", |
| "left_gripper_z", |
| "left_gripper_qx", |
| "left_gripper_qy", |
| "left_gripper_qz", |
| "left_gripper_qs", |
| "right_gripper_x", |
| "right_gripper_y", |
| "right_gripper_z", |
| "right_gripper_qx", |
| "right_gripper_qy", |
| "right_gripper_qz", |
| "right_gripper_qs", |
| "left_forearm_qx", |
| "left_forearm_qy", |
| "left_forearm_qz", |
| "left_forearm_qs", |
| "right_forearm_qx", |
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| "left_ability_hand_index_q2", |
| "left_ability_hand_middle_q1", |
| "left_ability_hand_middle_q2", |
| "left_ability_hand_ring_q1", |
| "left_ability_hand_ring_q2", |
| "left_ability_hand_pinky_q1", |
| "left_ability_hand_pinky_q2", |
| "left_ability_hand_thumb_q1", |
| "left_ability_hand_thumb_q2", |
| "right_ability_hand_index_q1", |
| "right_ability_hand_index_q2", |
| "right_ability_hand_middle_q1", |
| "right_ability_hand_middle_q2", |
| "right_ability_hand_ring_q1", |
| "right_ability_hand_ring_q2", |
| "right_ability_hand_pinky_q1", |
| "right_ability_hand_pinky_q2", |
| "right_ability_hand_thumb_q1", |
| "right_ability_hand_thumb_q2", |
| "spine_z", |
| "spine_y" |
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| "right_gripper_qx", |
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| "left_forearm_qx", |
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| "left_ability_hand_middle_q1", |
| "left_ability_hand_middle_q2", |
| "left_ability_hand_ring_q1", |
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| "left_ability_hand_pinky_q1", |
| "left_ability_hand_pinky_q2", |
| "left_ability_hand_thumb_q1", |
| "left_ability_hand_thumb_q2", |
| "right_ability_hand_index_q1", |
| "right_ability_hand_index_q2", |
| "right_ability_hand_middle_q1", |
| "right_ability_hand_middle_q2", |
| "right_ability_hand_ring_q1", |
| "right_ability_hand_ring_q2", |
| "right_ability_hand_pinky_q1", |
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| "right_ability_hand_thumb_q1", |
| "right_ability_hand_thumb_q2" |
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| }, |
| "arena_conversion_notes": { |
| "head_tilt_adjustment": { |
| "source": "H2Ozone/test_obs_new mean head quaternion", |
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| -0.26009202003479004, |
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| } |
| } |
| } |
|
|
