Upload folder using huggingface_hub
Browse files- 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.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.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
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:2b215cde249a88ee51031e2292e3e482a96bef77e8561960cf487726b4a7b147
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size 610952
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:a76e33d8db40fc2292a8cd524eebb41bb51cfe12330b0739fee173dab625b4ff
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size 83008
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meta/info.json
ADDED
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| 1 |
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{
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| 2 |
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"codebase_version": "v3.0",
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| 3 |
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"robot_type": "g1d",
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| 4 |
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"total_episodes": 4,
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| 5 |
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"total_frames": 3752,
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| 6 |
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"total_tasks": 4,
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| 7 |
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"chunks_size": 1000,
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| 8 |
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"data_files_size_in_mb": 100,
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| 9 |
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"video_files_size_in_mb": 200,
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| 10 |
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"fps": 30,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:4"
|
| 13 |
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},
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| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
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"features": {
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| 17 |
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"observation.state": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"shape": [
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| 20 |
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26
|
| 21 |
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],
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| 22 |
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"names": [
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| 23 |
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"left_shoulder_pitch.pos",
|
| 24 |
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"left_shoulder_roll.pos",
|
| 25 |
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"left_shoulder_yaw.pos",
|
| 26 |
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"left_elbow.pos",
|
| 27 |
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"left_wrist_roll.pos",
|
| 28 |
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"left_wrist_pitch.pos",
|
| 29 |
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"left_wrist_yaw.pos",
|
| 30 |
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"right_shoulder_pitch.pos",
|
| 31 |
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"right_shoulder_roll.pos",
|
| 32 |
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"right_shoulder_yaw.pos",
|
| 33 |
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"right_elbow.pos",
|
| 34 |
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"right_wrist_roll.pos",
|
| 35 |
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"right_wrist_pitch.pos",
|
| 36 |
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"right_wrist_yaw.pos",
|
| 37 |
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"left_thumb.pos",
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| 38 |
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"left_thumb_aux.pos",
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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"right_ring.pos",
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"right_pinky.pos"
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},
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"action": {
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"shape": [
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"names": [
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| 58 |
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| 60 |
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"left_elbow.pos",
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| 61 |
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"left_wrist_roll.pos",
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| 62 |
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"left_wrist_pitch.pos",
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| 63 |
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"left_wrist_yaw.pos",
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| 64 |
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"right_shoulder_pitch.pos",
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| 65 |
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"right_shoulder_roll.pos",
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| 66 |
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"right_shoulder_yaw.pos",
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| 67 |
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"right_elbow.pos",
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"right_wrist_pitch.pos",
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"right_wrist_yaw.pos",
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| 71 |
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"left_thumb.pos",
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| 72 |
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"left_thumb_aux.pos",
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| 73 |
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"left_index.pos",
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| 74 |
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"left_middle.pos",
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"left_ring.pos",
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| 76 |
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"left_pinky.pos",
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| 77 |
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"right_thumb.pos",
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| 78 |
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"right_thumb_aux.pos",
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| 79 |
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"right_middle.pos",
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"right_ring.pos",
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"right_pinky.pos"
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| 83 |
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]
|
| 84 |
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},
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| 85 |
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"observation.images.head": {
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meta/stats.json
ADDED
|
@@ -0,0 +1,1214 @@
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meta/tasks.parquet
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:745b2c35834e069d6260b9f012893e3dbedcf3e1477d8df0a969476b82780cad
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size 2563
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meta/waypoints.json
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|
|
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|
|
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|
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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 |
+
"left_wrist_roll.pos",
|
| 10 |
+
"left_wrist_pitch.pos",
|
| 11 |
+
"left_wrist_yaw.pos",
|
| 12 |
+
"right_shoulder_pitch.pos",
|
| 13 |
+
"right_shoulder_roll.pos",
|
| 14 |
+
"right_shoulder_yaw.pos",
|
| 15 |
+
"right_elbow.pos",
|
| 16 |
+
"right_wrist_roll.pos",
|
| 17 |
+
"right_wrist_pitch.pos",
|
| 18 |
+
"right_wrist_yaw.pos",
|
| 19 |
+
"left_thumb.pos",
|
| 20 |
+
"left_thumb_aux.pos",
|
| 21 |
+
"left_index.pos",
|
| 22 |
+
"left_middle.pos",
|
| 23 |
+
"left_ring.pos",
|
| 24 |
+
"left_pinky.pos",
|
| 25 |
+
"right_thumb.pos",
|
| 26 |
+
"right_thumb_aux.pos",
|
| 27 |
+
"right_index.pos",
|
| 28 |
+
"right_middle.pos",
|
| 29 |
+
"right_ring.pos",
|
| 30 |
+
"right_pinky.pos"
|
| 31 |
+
],
|
| 32 |
+
"defaults": {
|
| 33 |
+
"arm_tol_rad": 0.15,
|
| 34 |
+
"hand_tol_rad": 0.3,
|
| 35 |
+
"dwell_s": 0.75
|
| 36 |
+
},
|
| 37 |
+
"waypoints": {
|
| 38 |
+
"W0": {
|
| 39 |
+
"meaning": "start pose before S1",
|
| 40 |
+
"positions": [
|
| 41 |
+
-0.49528,
|
| 42 |
+
0.254217,
|
| 43 |
+
0.27117,
|
| 44 |
+
0.239489,
|
| 45 |
+
0.083846,
|
| 46 |
+
-0.695234,
|
| 47 |
+
0.169292,
|
| 48 |
+
-0.593995,
|
| 49 |
+
-0.331707,
|
| 50 |
+
-0.19795,
|
| 51 |
+
0.29839,
|
| 52 |
+
-0.114477,
|
| 53 |
+
-0.619459,
|
| 54 |
+
-0.129371,
|
| 55 |
+
0.02512,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
0.0,
|
| 60 |
+
0.0,
|
| 61 |
+
0.00314,
|
| 62 |
+
0.0,
|
| 63 |
+
0.0,
|
| 64 |
+
0.0,
|
| 65 |
+
0.0,
|
| 66 |
+
0.0
|
| 67 |
+
]
|
| 68 |
+
},
|
| 69 |
+
"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 |
+
"positions": [
|
| 72 |
+
-0.88158,
|
| 73 |
+
0.360998,
|
| 74 |
+
0.313368,
|
| 75 |
+
0.283045,
|
| 76 |
+
0.048336,
|
| 77 |
+
-0.912883,
|
| 78 |
+
0.144749,
|
| 79 |
+
-0.966196,
|
| 80 |
+
-0.436212,
|
| 81 |
+
-0.275225,
|
| 82 |
+
0.221283,
|
| 83 |
+
0.039958,
|
| 84 |
+
-0.750479,
|
| 85 |
+
0.015571,
|
| 86 |
+
0.02512,
|
| 87 |
+
0.0,
|
| 88 |
+
0.0,
|
| 89 |
+
0.0,
|
| 90 |
+
0.0,
|
| 91 |
+
0.0,
|
| 92 |
+
0.00314,
|
| 93 |
+
0.0,
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.0,
|
| 97 |
+
0.0
|
| 98 |
+
]
|
| 99 |
+
},
|
| 100 |
+
"W2": {
|
| 101 |
+
"meaning": "after S2: pick up the tied cable with the right hand and put it inside the open box",
|
| 102 |
+
"positions": [
|
| 103 |
+
-0.309164,
|
| 104 |
+
-0.002766,
|
| 105 |
+
-0.342857,
|
| 106 |
+
0.101877,
|
| 107 |
+
-0.24774,
|
| 108 |
+
0.376515,
|
| 109 |
+
-0.727311,
|
| 110 |
+
-1.018332,
|
| 111 |
+
-0.30196,
|
| 112 |
+
-0.182461,
|
| 113 |
+
0.47315,
|
| 114 |
+
0.146943,
|
| 115 |
+
-0.528423,
|
| 116 |
+
0.17866,
|
| 117 |
+
0.02512,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
0.0,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
+
0.00314,
|
| 124 |
+
0.0,
|
| 125 |
+
0.0,
|
| 126 |
+
0.0,
|
| 127 |
+
0.0,
|
| 128 |
+
0.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"W3": {
|
| 132 |
+
"meaning": "after S3: lower the lid over the box opening with both hands",
|
| 133 |
+
"positions": [
|
| 134 |
+
-0.73862,
|
| 135 |
+
0.228353,
|
| 136 |
+
0.162302,
|
| 137 |
+
1.072547,
|
| 138 |
+
0.005291,
|
| 139 |
+
-0.628808,
|
| 140 |
+
0.02249,
|
| 141 |
+
-0.911833,
|
| 142 |
+
-0.302929,
|
| 143 |
+
-0.182945,
|
| 144 |
+
1.107891,
|
| 145 |
+
0.075499,
|
| 146 |
+
-0.476146,
|
| 147 |
+
0.210556,
|
| 148 |
+
0.02512,
|
| 149 |
+
0.0,
|
| 150 |
+
0.0,
|
| 151 |
+
0.0,
|
| 152 |
+
0.0,
|
| 153 |
+
0.0,
|
| 154 |
+
0.00314,
|
| 155 |
+
0.0,
|
| 156 |
+
0.0,
|
| 157 |
+
0.0,
|
| 158 |
+
0.0,
|
| 159 |
+
0.0
|
| 160 |
+
]
|
| 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 |
+
-0.631625,
|
| 166 |
+
0.193104,
|
| 167 |
+
0.193306,
|
| 168 |
+
-0.13394,
|
| 169 |
+
-0.187342,
|
| 170 |
+
-0.451507,
|
| 171 |
+
-0.026853,
|
| 172 |
+
-0.461005,
|
| 173 |
+
-0.113337,
|
| 174 |
+
0.536896,
|
| 175 |
+
0.285115,
|
| 176 |
+
-0.176144,
|
| 177 |
+
-0.181145,
|
| 178 |
+
0.703039,
|
| 179 |
+
0.02512,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.0,
|
| 183 |
+
0.0,
|
| 184 |
+
0.0,
|
| 185 |
+
0.00314,
|
| 186 |
+
0.0,
|
| 187 |
+
0.0,
|
| 188 |
+
0.0,
|
| 189 |
+
0.0,
|
| 190 |
+
0.0
|
| 191 |
+
]
|
| 192 |
+
}
|
| 193 |
+
}
|
| 194 |
+
}
|
videos/observation.images.head/chunk-000/file-000.mp4
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 68490988
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videos/observation.images.head/chunk-000/file-001.mp4
ADDED
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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videos/observation.images.head/chunk-000/file-002.mp4
ADDED
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 71883439
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videos/observation.images.head/chunk-000/file-003.mp4
ADDED
|
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|
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|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 56362158
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videos/observation.images.left_wrist/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
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size 27986371
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videos/observation.images.left_wrist/chunk-000/file-001.mp4
ADDED
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
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size 32590520
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videos/observation.images.left_wrist/chunk-000/file-002.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 27519134
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videos/observation.images.left_wrist/chunk-000/file-003.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 21750201
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videos/observation.images.right_wrist/chunk-000/file-000.mp4
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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|
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size 25258847
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videos/observation.images.right_wrist/chunk-000/file-001.mp4
ADDED
|
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|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
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size 30901141
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videos/observation.images.right_wrist/chunk-000/file-002.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
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|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 25949514
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videos/observation.images.right_wrist/chunk-000/file-003.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
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|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 20411397
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