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| "kLeftHipRoll.q", |
| "kLeftHipYaw.q", |
| "kLeftKnee.q", |
| "kLeftAnklePitch.q", |
| "kLeftAnkleRoll.q", |
| "kRightHipPitch.q", |
| "kRightHipRoll.q", |
| "kRightHipYaw.q", |
| "kRightKnee.q", |
| "kRightAnklePitch.q", |
| "kRightAnkleRoll.q", |
| "kWaistYaw.q", |
| "kWaistRoll.q", |
| "kWaistPitch.q", |
| "kLeftShoulderPitch.q", |
| "kLeftShoulderRoll.q", |
| "kLeftShoulderYaw.q", |
| "kLeftElbow.q", |
| "kLeftWristRoll.q", |
| "kLeftWristPitch.q", |
| "kLeftWristyaw.q", |
| "kRightShoulderPitch.q", |
| "kRightShoulderRoll.q", |
| "kRightShoulderYaw.q", |
| "kRightElbow.q", |
| "kRightWristRoll.q", |
| "kRightWristPitch.q", |
| "kRightWristYaw.q" |
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| "left_ee_z", |
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| "right_ee_y", |
| "right_ee_z", |
| "right_ee_roll", |
| "right_ee_pitch", |
| "right_ee_yaw", |
| "left_trigger", |
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| "right_trigger", |
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| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "robot_type": "unitree_g1", |
| "splits": { |
| "train": "0:1" |
| } |
| } |
