File size: 7,417 Bytes
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"aic_contact_recovery_features": {
"config": {
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1.0,
3.0,
5.0,
7.0
]
},
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"force_thresh_1.first_delta.z",
"force_thresh_1.first_delta_norm",
"force_thresh_1.time_since_latest_sec",
"force_thresh_1.latest_delta.x",
"force_thresh_1.latest_delta.y",
"force_thresh_1.latest_delta.z",
"force_thresh_1.latest_delta_norm",
"force_thresh_3.time_since_first_sec",
"force_thresh_3.first_delta.x",
"force_thresh_3.first_delta.y",
"force_thresh_3.first_delta.z",
"force_thresh_3.first_delta_norm",
"force_thresh_3.time_since_latest_sec",
"force_thresh_3.latest_delta.x",
"force_thresh_3.latest_delta.y",
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"force_thresh_5.time_since_first_sec",
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"force_thresh_5.first_delta.z",
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"force_thresh_7.time_since_first_sec",
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"force_thresh_7.first_delta.y",
"force_thresh_7.first_delta.z",
"force_thresh_7.first_delta_norm",
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"force_thresh_7.latest_delta.x",
"force_thresh_7.latest_delta.y",
"force_thresh_7.latest_delta.z",
"force_thresh_7.latest_delta_norm"
],
"method": "causal_one_step_force_delta_threshold_memory",
"schema_version": "aic_contact_recovery_features/v3"
},
"chunks_size": 1000,
"codebase_version": "v3.0",
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"features": {
"action": {
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"delta_position.y",
"delta_position.z",
"delta_rotation.x",
"delta_rotation.y",
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],
"shape": [
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]
},
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},
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},
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},
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},
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},
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"tcp_error.x",
"tcp_error.y",
"tcp_error.z",
"tcp_error.rx",
"tcp_error.ry",
"tcp_error.rz",
"joint_positions.0",
"joint_positions.1",
"joint_positions.2",
"joint_positions.3",
"joint_positions.4",
"joint_positions.5",
"joint_positions.6",
"wrist_wrench.force.x",
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],
"shape": [
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},
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},
"timestamp": {
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}
},
"fps": 20,
"robot_type": "ur5e_aic",
"splits": {
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},
"total_episodes": 1,
"total_frames": 479,
"total_tasks": 1,
"video_files_size_in_mb": 200,
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
} |