Datasets:
Commit ·
4da446f
1
Parent(s): 91ab198
Fix: Add features structure to info.json for Space compatibility
Browse files- meta/info.json +335 -1
meta/info.json
CHANGED
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@@ -1,4 +1,338 @@
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| 1 |
{
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| 2 |
"total_episodes": 147,
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| 3 |
-
"total_frames": 83639
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| 4 |
}
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| 1 |
{
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| 2 |
+
"dataset_name": "humanoid_robots_training_dataset",
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| 3 |
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"task": "multi_task_hand_manipulation",
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"robot_type": "human_hand",
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| 5 |
"total_episodes": 147,
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| 6 |
+
"total_frames": 83639,
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| 7 |
+
"chunks_size": 100,
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| 8 |
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"fps": 30.0,
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| 9 |
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"splits": {
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"train": "0:1"
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| 11 |
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},
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| 12 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 13 |
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"video_path": "videos/chunk-{episode_chunk:03d}/rgb/episode_{episode_index:06d}.mp4",
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| 14 |
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"features": {
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| 15 |
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"observation.images.rgb": {
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"dtype": "video",
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"shape": [
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480,
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| 19 |
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640,
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3
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],
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| 22 |
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"names": [
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| 23 |
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"height",
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| 24 |
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"width",
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| 25 |
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"channel"
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| 26 |
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],
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| 27 |
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"video_info": {
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"video.fps": 30.0,
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| 29 |
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"video.codec": "h264/mp4v",
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| 30 |
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"video.pix_fmt": "yuv420p",
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| 31 |
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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| 35 |
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"observation.state": {
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"dtype": "float32",
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"shape": [
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126
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],
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| 40 |
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"names": {
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| 41 |
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"motors": [
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| 42 |
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"wrist_x_cm",
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| 43 |
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"wrist_y_cm",
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| 44 |
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"wrist_z_cm",
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| 45 |
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"wrist_yaw_deg",
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| 46 |
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"wrist_pitch_deg",
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| 47 |
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"wrist_roll_deg",
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| 48 |
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"thumb_cmc_x_cm",
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| 49 |
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"thumb_cmc_y_cm",
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| 50 |
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"thumb_cmc_z_cm",
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| 51 |
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"thumb_cmc_yaw_deg",
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| 52 |
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"thumb_cmc_pitch_deg",
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| 53 |
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"thumb_cmc_roll_deg",
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| 54 |
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"thumb_mcp_x_cm",
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| 55 |
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"thumb_mcp_y_cm",
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| 56 |
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"thumb_mcp_z_cm",
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"thumb_mcp_yaw_deg",
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| 58 |
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"thumb_mcp_pitch_deg",
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| 59 |
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"thumb_mcp_roll_deg",
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| 60 |
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"thumb_ip_x_cm",
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| 61 |
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"thumb_ip_y_cm",
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"thumb_ip_z_cm",
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| 63 |
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"thumb_ip_yaw_deg",
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| 64 |
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"thumb_ip_pitch_deg",
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| 65 |
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"thumb_ip_roll_deg",
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| 66 |
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"thumb_tip_x_cm",
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| 67 |
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"thumb_tip_y_cm",
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| 68 |
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"thumb_tip_z_cm",
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"thumb_tip_yaw_deg",
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"thumb_tip_pitch_deg",
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"thumb_tip_roll_deg",
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| 72 |
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"index_finger_mcp_x_cm",
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| 73 |
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"index_finger_mcp_y_cm",
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| 74 |
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"index_finger_mcp_z_cm",
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| 75 |
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"index_finger_mcp_yaw_deg",
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| 76 |
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"index_finger_mcp_pitch_deg",
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| 77 |
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"index_finger_mcp_roll_deg",
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| 78 |
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"index_finger_pip_x_cm",
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| 79 |
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"index_finger_pip_y_cm",
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| 80 |
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"index_finger_pip_z_cm",
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| 81 |
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"index_finger_pip_yaw_deg",
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| 82 |
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"index_finger_pip_pitch_deg",
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| 83 |
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"index_finger_pip_roll_deg",
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| 84 |
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"index_finger_dip_x_cm",
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| 85 |
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"index_finger_dip_y_cm",
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| 86 |
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"index_finger_dip_z_cm",
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| 87 |
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"index_finger_dip_yaw_deg",
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| 88 |
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"index_finger_dip_pitch_deg",
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| 89 |
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"index_finger_dip_roll_deg",
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| 90 |
+
"index_finger_tip_x_cm",
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| 91 |
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"index_finger_tip_y_cm",
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| 92 |
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"index_finger_tip_z_cm",
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| 93 |
+
"index_finger_tip_yaw_deg",
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| 94 |
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"index_finger_tip_pitch_deg",
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| 95 |
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"index_finger_tip_roll_deg",
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| 96 |
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"middle_finger_mcp_x_cm",
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| 97 |
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"middle_finger_mcp_y_cm",
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| 98 |
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"middle_finger_mcp_z_cm",
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| 99 |
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"middle_finger_mcp_yaw_deg",
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| 100 |
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"middle_finger_mcp_pitch_deg",
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| 101 |
+
"middle_finger_mcp_roll_deg",
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| 102 |
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"middle_finger_pip_x_cm",
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| 103 |
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"middle_finger_pip_y_cm",
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| 104 |
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"middle_finger_pip_z_cm",
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| 105 |
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"middle_finger_pip_yaw_deg",
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| 106 |
+
"middle_finger_pip_pitch_deg",
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| 107 |
+
"middle_finger_pip_roll_deg",
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| 108 |
+
"middle_finger_dip_x_cm",
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| 109 |
+
"middle_finger_dip_y_cm",
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| 110 |
+
"middle_finger_dip_z_cm",
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| 111 |
+
"middle_finger_dip_yaw_deg",
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| 112 |
+
"middle_finger_dip_pitch_deg",
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| 113 |
+
"middle_finger_dip_roll_deg",
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| 114 |
+
"middle_finger_tip_x_cm",
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| 115 |
+
"middle_finger_tip_y_cm",
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| 116 |
+
"middle_finger_tip_z_cm",
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| 117 |
+
"middle_finger_tip_yaw_deg",
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| 118 |
+
"middle_finger_tip_pitch_deg",
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| 119 |
+
"middle_finger_tip_roll_deg",
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| 120 |
+
"ring_finger_mcp_x_cm",
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| 121 |
+
"ring_finger_mcp_y_cm",
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| 122 |
+
"ring_finger_mcp_z_cm",
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| 123 |
+
"ring_finger_mcp_yaw_deg",
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| 124 |
+
"ring_finger_mcp_pitch_deg",
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| 125 |
+
"ring_finger_mcp_roll_deg",
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| 126 |
+
"ring_finger_pip_x_cm",
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| 127 |
+
"ring_finger_pip_y_cm",
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| 128 |
+
"ring_finger_pip_z_cm",
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| 129 |
+
"ring_finger_pip_yaw_deg",
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| 130 |
+
"ring_finger_pip_pitch_deg",
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| 131 |
+
"ring_finger_pip_roll_deg",
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| 132 |
+
"ring_finger_dip_x_cm",
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| 133 |
+
"ring_finger_dip_y_cm",
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| 134 |
+
"ring_finger_dip_z_cm",
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| 135 |
+
"ring_finger_dip_yaw_deg",
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| 136 |
+
"ring_finger_dip_pitch_deg",
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| 137 |
+
"ring_finger_dip_roll_deg",
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| 138 |
+
"ring_finger_tip_x_cm",
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| 139 |
+
"ring_finger_tip_y_cm",
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| 140 |
+
"ring_finger_tip_z_cm",
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| 141 |
+
"ring_finger_tip_yaw_deg",
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| 142 |
+
"ring_finger_tip_pitch_deg",
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| 143 |
+
"ring_finger_tip_roll_deg",
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| 144 |
+
"pinky_mcp_x_cm",
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| 145 |
+
"pinky_mcp_y_cm",
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| 146 |
+
"pinky_mcp_z_cm",
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| 147 |
+
"pinky_mcp_yaw_deg",
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| 148 |
+
"pinky_mcp_pitch_deg",
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| 149 |
+
"pinky_mcp_roll_deg",
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| 150 |
+
"pinky_pip_x_cm",
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| 151 |
+
"pinky_pip_y_cm",
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| 152 |
+
"pinky_pip_z_cm",
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| 153 |
+
"pinky_pip_yaw_deg",
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| 154 |
+
"pinky_pip_pitch_deg",
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| 155 |
+
"pinky_pip_roll_deg",
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| 156 |
+
"pinky_dip_x_cm",
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| 157 |
+
"pinky_dip_y_cm",
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| 158 |
+
"pinky_dip_z_cm",
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| 159 |
+
"pinky_dip_yaw_deg",
|
| 160 |
+
"pinky_dip_pitch_deg",
|
| 161 |
+
"pinky_dip_roll_deg",
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| 162 |
+
"pinky_tip_x_cm",
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| 163 |
+
"pinky_tip_y_cm",
|
| 164 |
+
"pinky_tip_z_cm",
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| 165 |
+
"pinky_tip_yaw_deg",
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| 166 |
+
"pinky_tip_pitch_deg",
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| 167 |
+
"pinky_tip_roll_deg"
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| 168 |
+
]
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| 169 |
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}
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| 170 |
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},
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| 171 |
+
"action": {
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| 172 |
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"dtype": "float32",
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| 173 |
+
"shape": [
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| 174 |
+
126
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| 175 |
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],
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| 176 |
+
"names": {
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| 177 |
+
"motors": [
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| 178 |
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"wrist_x_cm",
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| 179 |
+
"wrist_y_cm",
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| 180 |
+
"wrist_z_cm",
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| 181 |
+
"wrist_yaw_deg",
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| 182 |
+
"wrist_pitch_deg",
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| 183 |
+
"wrist_roll_deg",
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| 184 |
+
"thumb_cmc_x_cm",
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| 185 |
+
"thumb_cmc_y_cm",
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| 186 |
+
"thumb_cmc_z_cm",
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| 187 |
+
"thumb_cmc_yaw_deg",
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| 188 |
+
"thumb_cmc_pitch_deg",
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| 189 |
+
"thumb_cmc_roll_deg",
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| 190 |
+
"thumb_mcp_x_cm",
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| 191 |
+
"thumb_mcp_y_cm",
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| 192 |
+
"thumb_mcp_z_cm",
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| 193 |
+
"thumb_mcp_yaw_deg",
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| 194 |
+
"thumb_mcp_pitch_deg",
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| 195 |
+
"thumb_mcp_roll_deg",
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| 196 |
+
"thumb_ip_x_cm",
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| 197 |
+
"thumb_ip_y_cm",
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| 198 |
+
"thumb_ip_z_cm",
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| 199 |
+
"thumb_ip_yaw_deg",
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| 200 |
+
"thumb_ip_pitch_deg",
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| 201 |
+
"thumb_ip_roll_deg",
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| 202 |
+
"thumb_tip_x_cm",
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| 203 |
+
"thumb_tip_y_cm",
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| 204 |
+
"thumb_tip_z_cm",
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| 205 |
+
"thumb_tip_yaw_deg",
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| 206 |
+
"thumb_tip_pitch_deg",
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| 207 |
+
"thumb_tip_roll_deg",
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| 208 |
+
"index_finger_mcp_x_cm",
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| 209 |
+
"index_finger_mcp_y_cm",
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| 210 |
+
"index_finger_mcp_z_cm",
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| 211 |
+
"index_finger_mcp_yaw_deg",
|
| 212 |
+
"index_finger_mcp_pitch_deg",
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| 213 |
+
"index_finger_mcp_roll_deg",
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| 214 |
+
"index_finger_pip_x_cm",
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| 215 |
+
"index_finger_pip_y_cm",
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| 216 |
+
"index_finger_pip_z_cm",
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| 217 |
+
"index_finger_pip_yaw_deg",
|
| 218 |
+
"index_finger_pip_pitch_deg",
|
| 219 |
+
"index_finger_pip_roll_deg",
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| 220 |
+
"index_finger_dip_x_cm",
|
| 221 |
+
"index_finger_dip_y_cm",
|
| 222 |
+
"index_finger_dip_z_cm",
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| 223 |
+
"index_finger_dip_yaw_deg",
|
| 224 |
+
"index_finger_dip_pitch_deg",
|
| 225 |
+
"index_finger_dip_roll_deg",
|
| 226 |
+
"index_finger_tip_x_cm",
|
| 227 |
+
"index_finger_tip_y_cm",
|
| 228 |
+
"index_finger_tip_z_cm",
|
| 229 |
+
"index_finger_tip_yaw_deg",
|
| 230 |
+
"index_finger_tip_pitch_deg",
|
| 231 |
+
"index_finger_tip_roll_deg",
|
| 232 |
+
"middle_finger_mcp_x_cm",
|
| 233 |
+
"middle_finger_mcp_y_cm",
|
| 234 |
+
"middle_finger_mcp_z_cm",
|
| 235 |
+
"middle_finger_mcp_yaw_deg",
|
| 236 |
+
"middle_finger_mcp_pitch_deg",
|
| 237 |
+
"middle_finger_mcp_roll_deg",
|
| 238 |
+
"middle_finger_pip_x_cm",
|
| 239 |
+
"middle_finger_pip_y_cm",
|
| 240 |
+
"middle_finger_pip_z_cm",
|
| 241 |
+
"middle_finger_pip_yaw_deg",
|
| 242 |
+
"middle_finger_pip_pitch_deg",
|
| 243 |
+
"middle_finger_pip_roll_deg",
|
| 244 |
+
"middle_finger_dip_x_cm",
|
| 245 |
+
"middle_finger_dip_y_cm",
|
| 246 |
+
"middle_finger_dip_z_cm",
|
| 247 |
+
"middle_finger_dip_yaw_deg",
|
| 248 |
+
"middle_finger_dip_pitch_deg",
|
| 249 |
+
"middle_finger_dip_roll_deg",
|
| 250 |
+
"middle_finger_tip_x_cm",
|
| 251 |
+
"middle_finger_tip_y_cm",
|
| 252 |
+
"middle_finger_tip_z_cm",
|
| 253 |
+
"middle_finger_tip_yaw_deg",
|
| 254 |
+
"middle_finger_tip_pitch_deg",
|
| 255 |
+
"middle_finger_tip_roll_deg",
|
| 256 |
+
"ring_finger_mcp_x_cm",
|
| 257 |
+
"ring_finger_mcp_y_cm",
|
| 258 |
+
"ring_finger_mcp_z_cm",
|
| 259 |
+
"ring_finger_mcp_yaw_deg",
|
| 260 |
+
"ring_finger_mcp_pitch_deg",
|
| 261 |
+
"ring_finger_mcp_roll_deg",
|
| 262 |
+
"ring_finger_pip_x_cm",
|
| 263 |
+
"ring_finger_pip_y_cm",
|
| 264 |
+
"ring_finger_pip_z_cm",
|
| 265 |
+
"ring_finger_pip_yaw_deg",
|
| 266 |
+
"ring_finger_pip_pitch_deg",
|
| 267 |
+
"ring_finger_pip_roll_deg",
|
| 268 |
+
"ring_finger_dip_x_cm",
|
| 269 |
+
"ring_finger_dip_y_cm",
|
| 270 |
+
"ring_finger_dip_z_cm",
|
| 271 |
+
"ring_finger_dip_yaw_deg",
|
| 272 |
+
"ring_finger_dip_pitch_deg",
|
| 273 |
+
"ring_finger_dip_roll_deg",
|
| 274 |
+
"ring_finger_tip_x_cm",
|
| 275 |
+
"ring_finger_tip_y_cm",
|
| 276 |
+
"ring_finger_tip_z_cm",
|
| 277 |
+
"ring_finger_tip_yaw_deg",
|
| 278 |
+
"ring_finger_tip_pitch_deg",
|
| 279 |
+
"ring_finger_tip_roll_deg",
|
| 280 |
+
"pinky_mcp_x_cm",
|
| 281 |
+
"pinky_mcp_y_cm",
|
| 282 |
+
"pinky_mcp_z_cm",
|
| 283 |
+
"pinky_mcp_yaw_deg",
|
| 284 |
+
"pinky_mcp_pitch_deg",
|
| 285 |
+
"pinky_mcp_roll_deg",
|
| 286 |
+
"pinky_pip_x_cm",
|
| 287 |
+
"pinky_pip_y_cm",
|
| 288 |
+
"pinky_pip_z_cm",
|
| 289 |
+
"pinky_pip_yaw_deg",
|
| 290 |
+
"pinky_pip_pitch_deg",
|
| 291 |
+
"pinky_pip_roll_deg",
|
| 292 |
+
"pinky_dip_x_cm",
|
| 293 |
+
"pinky_dip_y_cm",
|
| 294 |
+
"pinky_dip_z_cm",
|
| 295 |
+
"pinky_dip_yaw_deg",
|
| 296 |
+
"pinky_dip_pitch_deg",
|
| 297 |
+
"pinky_dip_roll_deg",
|
| 298 |
+
"pinky_tip_x_cm",
|
| 299 |
+
"pinky_tip_y_cm",
|
| 300 |
+
"pinky_tip_z_cm",
|
| 301 |
+
"pinky_tip_yaw_deg",
|
| 302 |
+
"pinky_tip_pitch_deg",
|
| 303 |
+
"pinky_tip_roll_deg"
|
| 304 |
+
]
|
| 305 |
+
}
|
| 306 |
+
},
|
| 307 |
+
"timestamp": {
|
| 308 |
+
"dtype": "float32",
|
| 309 |
+
"shape": [
|
| 310 |
+
1
|
| 311 |
+
]
|
| 312 |
+
},
|
| 313 |
+
"language_instruction": {
|
| 314 |
+
"dtype": "string",
|
| 315 |
+
"shape": [
|
| 316 |
+
1
|
| 317 |
+
]
|
| 318 |
+
},
|
| 319 |
+
"episode_index": {
|
| 320 |
+
"dtype": "int64",
|
| 321 |
+
"shape": [
|
| 322 |
+
1
|
| 323 |
+
]
|
| 324 |
+
},
|
| 325 |
+
"frame_index": {
|
| 326 |
+
"dtype": "int64",
|
| 327 |
+
"shape": [
|
| 328 |
+
1
|
| 329 |
+
]
|
| 330 |
+
},
|
| 331 |
+
"next.done": {
|
| 332 |
+
"dtype": "bool",
|
| 333 |
+
"shape": [
|
| 334 |
+
1
|
| 335 |
+
]
|
| 336 |
+
}
|
| 337 |
+
}
|
| 338 |
}
|