vpraise00 commited on
Commit ·
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Parent(s): 7afd7cc
Method3 Phase1 open_box 80 episode dataset
Browse files- README.md +26 -0
- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +266 -0
- meta/scrape_collection_manifest.json +35 -0
- meta/scrape_episode_metadata.jsonl +0 -0
- meta/stats.json +1163 -0
- meta/tasks.parquet +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.top/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.top/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.top/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.top/chunk-000/file-003.mp4 +3 -0
README.md
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---
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- robotics
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- lerobot
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- so101
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- isaac-lab
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- code-as-policies
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---
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# Isaaclab So101 Phase1 Open Box 80Episode
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LeRobot v3.0 dataset collected via
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[SCRAPE-IsaacLab](https://github.com/vpraise00/SCRAPE-IsaacLab) — a
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Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
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- **Task instruction**: "Open the box by moving the lid to the target marker."
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- **Robot**: so101_follower
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- **Cameras**: top + left-wrist RGB @ 10 fps
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- **Episodes**: 80 (24,231 frames total)
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- **Labels**: per-frame natural-language skill labels in ``skill.natural_language``
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and ``subtask.*`` columns (labeled by Gemini)
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Generated on Isaac Sim 5.1 / IsaacLab 2.3.2 under Python 3.11, CUDA 12.1.
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data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:dd8f52b508991752ef8ba15455c1997220f44fef53337cc6f7936d943f48564e
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size 3954502
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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:c8d1447a5b23b081213c126a165a85c62258c43f87be68577a033a5b53e4ead7
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size 469763
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meta/info.json
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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": "so101_follower",
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| 4 |
+
"total_episodes": 80,
|
| 5 |
+
"total_frames": 24231,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
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"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
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| 10 |
+
"fps": 10,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:80"
|
| 13 |
+
},
|
| 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",
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| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
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"shoulder_pan.pos",
|
| 24 |
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"shoulder_lift.pos",
|
| 25 |
+
"elbow_flex.pos",
|
| 26 |
+
"wrist_flex.pos",
|
| 27 |
+
"wrist_roll.pos",
|
| 28 |
+
"gripper.pos"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"action": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
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6
|
| 35 |
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],
|
| 36 |
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"names": [
|
| 37 |
+
"shoulder_pan.pos",
|
| 38 |
+
"shoulder_lift.pos",
|
| 39 |
+
"elbow_flex.pos",
|
| 40 |
+
"wrist_flex.pos",
|
| 41 |
+
"wrist_roll.pos",
|
| 42 |
+
"gripper.pos"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.top": {
|
| 46 |
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"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
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480,
|
| 49 |
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640,
|
| 50 |
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3
|
| 51 |
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],
|
| 52 |
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"names": [
|
| 53 |
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"height",
|
| 54 |
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"width",
|
| 55 |
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"channels"
|
| 56 |
+
],
|
| 57 |
+
"info": {
|
| 58 |
+
"video.height": 480,
|
| 59 |
+
"video.width": 640,
|
| 60 |
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"video.codec": "h264",
|
| 61 |
+
"video.pix_fmt": "yuv420p",
|
| 62 |
+
"video.is_depth_map": false,
|
| 63 |
+
"video.fps": 10,
|
| 64 |
+
"video.channels": 3,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
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"observation.images.left_wrist": {
|
| 69 |
+
"dtype": "video",
|
| 70 |
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"shape": [
|
| 71 |
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480,
|
| 72 |
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640,
|
| 73 |
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3
|
| 74 |
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],
|
| 75 |
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"names": [
|
| 76 |
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"height",
|
| 77 |
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"width",
|
| 78 |
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"channels"
|
| 79 |
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],
|
| 80 |
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"info": {
|
| 81 |
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"video.height": 480,
|
| 82 |
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"video.width": 640,
|
| 83 |
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"video.codec": "h264",
|
| 84 |
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"video.pix_fmt": "yuv420p",
|
| 85 |
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"video.is_depth_map": false,
|
| 86 |
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"video.fps": 10,
|
| 87 |
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"video.channels": 3,
|
| 88 |
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"has_audio": false
|
| 89 |
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}
|
| 90 |
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},
|
| 91 |
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"observation.ee_pos.robot_xyzrpy": {
|
| 92 |
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"dtype": "float32",
|
| 93 |
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"shape": [
|
| 94 |
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6
|
| 95 |
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],
|
| 96 |
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"names": [
|
| 97 |
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"x",
|
| 98 |
+
"y",
|
| 99 |
+
"z",
|
| 100 |
+
"roll",
|
| 101 |
+
"pitch",
|
| 102 |
+
"yaw"
|
| 103 |
+
]
|
| 104 |
+
},
|
| 105 |
+
"observation.gripper_binary": {
|
| 106 |
+
"dtype": "float32",
|
| 107 |
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"shape": [
|
| 108 |
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1
|
| 109 |
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],
|
| 110 |
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"names": null
|
| 111 |
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},
|
| 112 |
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"observation.state.radian_urdf0": {
|
| 113 |
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"dtype": "float32",
|
| 114 |
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"shape": [
|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"names": [
|
| 118 |
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"shoulder_pan.pos",
|
| 119 |
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"shoulder_lift.pos",
|
| 120 |
+
"elbow_flex.pos",
|
| 121 |
+
"wrist_flex.pos",
|
| 122 |
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"wrist_roll.pos",
|
| 123 |
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"gripper.pos"
|
| 124 |
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]
|
| 125 |
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},
|
| 126 |
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"action.radian_urdf0": {
|
| 127 |
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"dtype": "float32",
|
| 128 |
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"shape": [
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| 129 |
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|
| 130 |
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],
|
| 131 |
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"names": [
|
| 132 |
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"shoulder_pan.pos",
|
| 133 |
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"shoulder_lift.pos",
|
| 134 |
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"elbow_flex.pos",
|
| 135 |
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"wrist_flex.pos",
|
| 136 |
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"wrist_roll.pos",
|
| 137 |
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"gripper.pos"
|
| 138 |
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]
|
| 139 |
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},
|
| 140 |
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"skill.natural_language": {
|
| 141 |
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"dtype": "string",
|
| 142 |
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"shape": [
|
| 143 |
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1
|
| 144 |
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],
|
| 145 |
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"names": null
|
| 146 |
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},
|
| 147 |
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"skill.verification_question": {
|
| 148 |
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"dtype": "string",
|
| 149 |
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"shape": [
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| 150 |
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|
| 151 |
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],
|
| 152 |
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"names": null
|
| 153 |
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},
|
| 154 |
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"skill.type": {
|
| 155 |
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"dtype": "string",
|
| 156 |
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"shape": [
|
| 157 |
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1
|
| 158 |
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],
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"names": null
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},
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| 161 |
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"skill.progress": {
|
| 162 |
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"dtype": "float32",
|
| 163 |
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"shape": [
|
| 164 |
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1
|
| 165 |
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],
|
| 166 |
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"names": null
|
| 167 |
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},
|
| 168 |
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"skill.goal_position.joint": {
|
| 169 |
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"dtype": "float32",
|
| 170 |
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"shape": [
|
| 171 |
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|
| 172 |
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],
|
| 173 |
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"names": [
|
| 174 |
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"shoulder_pan.pos",
|
| 175 |
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"shoulder_lift.pos",
|
| 176 |
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"elbow_flex.pos",
|
| 177 |
+
"wrist_flex.pos",
|
| 178 |
+
"wrist_roll.pos",
|
| 179 |
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"gripper.pos"
|
| 180 |
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]
|
| 181 |
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},
|
| 182 |
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"skill.goal_position.robot_xyzrpy": {
|
| 183 |
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"dtype": "float32",
|
| 184 |
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"shape": [
|
| 185 |
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6
|
| 186 |
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],
|
| 187 |
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"names": [
|
| 188 |
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"x",
|
| 189 |
+
"y",
|
| 190 |
+
"z",
|
| 191 |
+
"roll",
|
| 192 |
+
"pitch",
|
| 193 |
+
"yaw"
|
| 194 |
+
]
|
| 195 |
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},
|
| 196 |
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"skill.goal_position.gripper": {
|
| 197 |
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"dtype": "float32",
|
| 198 |
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"shape": [
|
| 199 |
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1
|
| 200 |
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],
|
| 201 |
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"names": [
|
| 202 |
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"gripper.pos"
|
| 203 |
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]
|
| 204 |
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},
|
| 205 |
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"subtask.natural_language": {
|
| 206 |
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"dtype": "string",
|
| 207 |
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"shape": [
|
| 208 |
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1
|
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],
|
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"names": null
|
| 211 |
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},
|
| 212 |
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"subtask.object_name": {
|
| 213 |
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"dtype": "string",
|
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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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"subtask.target_position": {
|
| 220 |
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"dtype": "float32",
|
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"shape": [
|
| 222 |
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|
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],
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"names": [
|
| 225 |
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"x",
|
| 226 |
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"y",
|
| 227 |
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"z"
|
| 228 |
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]
|
| 229 |
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},
|
| 230 |
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"timestamp": {
|
| 231 |
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"dtype": "float32",
|
| 232 |
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"shape": [
|
| 233 |
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1
|
| 234 |
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],
|
| 235 |
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"names": null
|
| 236 |
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},
|
| 237 |
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"frame_index": {
|
| 238 |
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"dtype": "int64",
|
| 239 |
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"shape": [
|
| 240 |
+
1
|
| 241 |
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],
|
| 242 |
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"names": null
|
| 243 |
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},
|
| 244 |
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"episode_index": {
|
| 245 |
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|
| 246 |
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|
| 247 |
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1
|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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"index": {
|
| 252 |
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"dtype": "int64",
|
| 253 |
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|
| 254 |
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1
|
| 255 |
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],
|
| 256 |
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"names": null
|
| 257 |
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},
|
| 258 |
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"task_index": {
|
| 259 |
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"dtype": "int64",
|
| 260 |
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"shape": [
|
| 261 |
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1
|
| 262 |
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],
|
| 263 |
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"names": null
|
| 264 |
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}
|
| 265 |
+
}
|
| 266 |
+
}
|
meta/scrape_collection_manifest.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "Isaac-OpenBox-SO101-Single-v0",
|
| 3 |
+
"instruction": "Open the box by moving the lid to the target marker.",
|
| 4 |
+
"recording_fps": 10,
|
| 5 |
+
"hf_repo_id": "",
|
| 6 |
+
"replay_session": "",
|
| 7 |
+
"target_episodes": 80,
|
| 8 |
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"final_sidecar_episodes": 80,
|
| 9 |
+
"sources": [
|
| 10 |
+
{
|
| 11 |
+
"accepted_name": "session_sel_0000_multi_20260602_185736_session_20260602_185736_w0_76fea402",
|
| 12 |
+
"source": "/data/vpraise-corl/workspace/SCRAPE-IsaacLab/results/method3_phase1_80true_top_left/run_20260601_154510/open_box/campaign/multi_20260602_185736/session_20260602_185736_w0_76fea402",
|
| 13 |
+
"episodes_used": 20,
|
| 14 |
+
"episodes_skipped_by_quarantine": 0
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"accepted_name": "session_sel_0001_multi_20260602_185736_session_20260602_185736_w1_b0579ad4",
|
| 18 |
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"source": "/data/vpraise-corl/workspace/SCRAPE-IsaacLab/results/method3_phase1_80true_top_left/run_20260601_154510/open_box/campaign/multi_20260602_185736/session_20260602_185736_w1_b0579ad4",
|
| 19 |
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"episodes_used": 20,
|
| 20 |
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"episodes_skipped_by_quarantine": 0
|
| 21 |
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},
|
| 22 |
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{
|
| 23 |
+
"accepted_name": "session_sel_0002_multi_20260602_185736_session_20260602_185736_w2_a2565ca3",
|
| 24 |
+
"source": "/data/vpraise-corl/workspace/SCRAPE-IsaacLab/results/method3_phase1_80true_top_left/run_20260601_154510/open_box/campaign/multi_20260602_185736/session_20260602_185736_w2_a2565ca3",
|
| 25 |
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"episodes_used": 20,
|
| 26 |
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"episodes_skipped_by_quarantine": 0
|
| 27 |
+
},
|
| 28 |
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{
|
| 29 |
+
"accepted_name": "session_sel_0003_multi_20260602_185736_session_20260602_185736_w3_68a9750c",
|
| 30 |
+
"source": "/data/vpraise-corl/workspace/SCRAPE-IsaacLab/results/method3_phase1_80true_top_left/run_20260601_154510/open_box/campaign/multi_20260602_185736/session_20260602_185736_w3_68a9750c",
|
| 31 |
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"episodes_used": 20,
|
| 32 |
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"episodes_skipped_by_quarantine": 0
|
| 33 |
+
}
|
| 34 |
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]
|
| 35 |
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}
|
meta/scrape_episode_metadata.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/stats.json
ADDED
|
@@ -0,0 +1,1163 @@
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