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- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +204 -0
- meta/stats.json +1214 -0
- meta/tasks.parquet +3 -0
- meta/waypoints.json +194 -0
- videos/observation.images.head/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-005.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-008.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-009.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-010.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-011.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-012.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-013.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-014.mp4 +3 -0
- videos/observation.images.head/chunk-000/file-015.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-005.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-008.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-009.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-010.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-011.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-012.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-013.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-014.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-015.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-005.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-008.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-009.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-010.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-011.mp4 +3 -0
data/chunk-000/file-000.parquet
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meta/episodes/chunk-000/file-000.parquet
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meta/info.json
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{
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meta/stats.json
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|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:b52487c723da988038198bbdf6ee0770c3a5463451d4b9146390bafba651199c
|
| 3 |
+
size 2798
|
meta/waypoints.json
ADDED
|
@@ -0,0 +1,194 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"robot_id": "g1d-01",
|
| 4 |
+
"state_keys": [
|
| 5 |
+
"left_shoulder_pitch.pos",
|
| 6 |
+
"left_shoulder_roll.pos",
|
| 7 |
+
"left_shoulder_yaw.pos",
|
| 8 |
+
"left_elbow.pos",
|
| 9 |
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"left_wrist_roll.pos",
|
| 10 |
+
"left_wrist_pitch.pos",
|
| 11 |
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"left_wrist_yaw.pos",
|
| 12 |
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"right_shoulder_pitch.pos",
|
| 13 |
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"right_shoulder_roll.pos",
|
| 14 |
+
"right_shoulder_yaw.pos",
|
| 15 |
+
"right_elbow.pos",
|
| 16 |
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"right_wrist_roll.pos",
|
| 17 |
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"right_wrist_pitch.pos",
|
| 18 |
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"right_wrist_yaw.pos",
|
| 19 |
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"left_thumb.pos",
|
| 20 |
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"left_thumb_aux.pos",
|
| 21 |
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"left_index.pos",
|
| 22 |
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"left_middle.pos",
|
| 23 |
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"left_ring.pos",
|
| 24 |
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"left_pinky.pos",
|
| 25 |
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"right_thumb.pos",
|
| 26 |
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"right_thumb_aux.pos",
|
| 27 |
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"right_index.pos",
|
| 28 |
+
"right_middle.pos",
|
| 29 |
+
"right_ring.pos",
|
| 30 |
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"right_pinky.pos"
|
| 31 |
+
],
|
| 32 |
+
"defaults": {
|
| 33 |
+
"arm_tol_rad": 0.15,
|
| 34 |
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"hand_tol_rad": 0.3,
|
| 35 |
+
"dwell_s": 0.75
|
| 36 |
+
},
|
| 37 |
+
"waypoints": {
|
| 38 |
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"W0": {
|
| 39 |
+
"meaning": "start pose before S1",
|
| 40 |
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"positions": [
|
| 41 |
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0.130773,
|
| 42 |
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0.05221,
|
| 43 |
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|
| 44 |
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-0.108305,
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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| 55 |
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| 56 |
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|
| 66 |
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|
| 67 |
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]
|
| 68 |
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},
|
| 69 |
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"W1": {
|
| 70 |
+
"meaning": "after S1: open the lid with the left hand while steadying the box with the right hand, then fold the lid fully upright",
|
| 71 |
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"positions": [
|
| 72 |
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0.05804,
|
| 73 |
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0.011765,
|
| 74 |
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|
| 75 |
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-0.06187,
|
| 76 |
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|
| 77 |
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-0.178266,
|
| 78 |
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0.021493,
|
| 79 |
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|
| 80 |
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|
| 81 |
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-0.055589,
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| 82 |
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| 84 |
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| 86 |
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|
| 98 |
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]
|
| 99 |
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},
|
| 100 |
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"W2": {
|
| 101 |
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"meaning": "after S2: pick up the tied cable with the right hand and put it inside the open box",
|
| 102 |
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"positions": [
|
| 103 |
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0.141161,
|
| 104 |
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0.330795,
|
| 105 |
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|
| 106 |
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|
| 107 |
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| 108 |
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|
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0.168927,
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-0.075377,
|
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0.011388,
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-0.116025,
|
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]
|
| 130 |
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},
|
| 131 |
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"W3": {
|
| 132 |
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"meaning": "after S3: steady the box with the left hand and lower the lid over the box opening with the right hand",
|
| 133 |
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"positions": [
|
| 134 |
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0.091745,
|
| 135 |
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0.055645,
|
| 136 |
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|
| 137 |
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-0.030886,
|
| 138 |
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0.087975,
|
| 139 |
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-0.413993,
|
| 140 |
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0.060673,
|
| 141 |
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-0.104457,
|
| 142 |
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-0.027857,
|
| 143 |
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-0.00291,
|
| 144 |
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0.112138,
|
| 145 |
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-0.133457,
|
| 146 |
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|
| 147 |
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-0.090041,
|
| 148 |
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0.0157,
|
| 149 |
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0.0,
|
| 150 |
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|
| 151 |
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|
| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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|
| 158 |
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0.0,
|
| 159 |
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0.0
|
| 160 |
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]
|
| 161 |
+
},
|
| 162 |
+
"W4": {
|
| 163 |
+
"meaning": "after S4: tuck the front lip of the lid into the box and press the lid closed, and retract both arms to home",
|
| 164 |
+
"positions": [
|
| 165 |
+
0.116452,
|
| 166 |
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0.052425,
|
| 167 |
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0.082937,
|
| 168 |
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|
| 169 |
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0.027143,
|
| 170 |
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|
| 171 |
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0.099041,
|
| 172 |
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-0.164736,
|
| 173 |
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|
| 174 |
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|
| 175 |
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0.231657,
|
| 176 |
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-0.01155,
|
| 177 |
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|
| 178 |
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|
| 179 |
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0.0,
|
| 180 |
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|
| 191 |
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|
| 192 |
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}
|
| 193 |
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}
|
| 194 |
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}
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ADDED
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