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- grab_roller/clean/data/chunk-000/file-000.parquet +3 -0
- grab_roller/clean/meta/episodes/chunk-000/file-000.parquet +3 -0
- grab_roller/clean/videos/observation.images.front_camera/chunk-000/file-000.mp4 +3 -0
- grab_roller/random/videos/observation.images.head_camera/chunk-000/file-001.mp4 +3 -0
- grab_roller/random/videos/observation.images.left_camera/chunk-000/file-000.mp4 +3 -0
- handover_mic/clean/meta/info.json +227 -0
- handover_mic/clean/meta/phase_codes.json +9 -0
- handover_mic/clean/meta/stats.json +1 -0
- handover_mic/random/meta/info.json +227 -0
- handover_mic/random/meta/phase_codes.json +9 -0
- handover_mic/random/meta/stats.json +1 -0
- move_can_pot/clean/meta/info.json +227 -0
- move_can_pot/clean/meta/phase_codes.json +9 -0
- move_can_pot/clean/meta/stats.json +1 -0
- move_can_pot/random/meta/info.json +227 -0
- move_can_pot/random/meta/phase_codes.json +9 -0
- move_can_pot/random/meta/stats.json +1 -0
- move_pillbottle_pad/clean/meta/info.json +227 -0
- move_pillbottle_pad/clean/meta/phase_codes.json +9 -0
- move_pillbottle_pad/clean/meta/stats.json +1 -0
- move_pillbottle_pad/random/meta/info.json +227 -0
- move_pillbottle_pad/random/meta/phase_codes.json +9 -0
- move_pillbottle_pad/random/meta/stats.json +1 -0
- move_playingcard_away/clean/meta/info.json +227 -0
- move_playingcard_away/clean/meta/phase_codes.json +9 -0
- move_playingcard_away/clean/meta/stats.json +1 -0
- move_playingcard_away/random/meta/info.json +227 -0
- move_playingcard_away/random/meta/phase_codes.json +9 -0
- move_playingcard_away/random/meta/stats.json +1 -0
- open_microwave/clean/meta/info.json +227 -0
- open_microwave/clean/meta/phase_codes.json +9 -0
- open_microwave/clean/meta/stats.json +1 -0
- place_bread_skillet/clean/meta/info.json +227 -0
- place_bread_skillet/clean/meta/phase_codes.json +9 -0
- place_bread_skillet/clean/meta/stats.json +1 -0
- place_bread_skillet/random/meta/info.json +227 -0
- place_bread_skillet/random/meta/phase_codes.json +9 -0
- place_bread_skillet/random/meta/stats.json +1 -0
- place_dual_shoes/clean/meta/info.json +227 -0
- place_dual_shoes/clean/meta/phase_codes.json +9 -0
- place_dual_shoes/clean/meta/stats.json +1 -0
- place_dual_shoes/random/meta/info.json +227 -0
- place_dual_shoes/random/meta/phase_codes.json +9 -0
- place_dual_shoes/random/meta/stats.json +1 -0
- place_empty_cup/clean/meta/info.json +227 -0
- place_empty_cup/clean/meta/phase_codes.json +9 -0
- place_empty_cup/clean/meta/stats.json +1 -0
- place_empty_cup/random/meta/info.json +227 -0
- place_empty_cup/random/meta/phase_codes.json +9 -0
- place_empty_cup/random/meta/stats.json +1 -0
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|
| 219 |
+
"task_index": {
|
| 220 |
+
"dtype": "int64",
|
| 221 |
+
"shape": [
|
| 222 |
+
1
|
| 223 |
+
],
|
| 224 |
+
"names": null
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
handover_mic/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
handover_mic/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-1.028822660446167, 0.0, 0.0, -1.1782028675079346, -0.871694803237915, -0.5621711611747742, 0.0, 0.0, 0.0, 0.0, -1.1739554405212402, -1.2112488746643066, -1.545505404472351, 0.0], "max": [0.23509883880615234, 2.325735569000244, 1.6951364278793335, 1.1888962984085083, 1.0342659950256348, 0.20898015797138214, 1.0, 1.0144609212875366, 2.2757246494293213, 1.7180277109146118, 1.0238295793533325, 0.7038569450378418, 0.5556960105895996, 1.0], "mean": [-0.2915471154251963, 1.0662982340781748, 0.6336419672974148, 0.04872436788798331, 0.08179334196761386, -0.07046408236831106, 0.6388932916700466, 0.3031728542909902, 1.05753670747085, 0.6438034131168294, 0.04088616696727339, -0.060501262549427205, 0.08954013528171145, 0.6563765785019631], "std": [0.2766988526571791, 0.8382331627975232, 0.5234938547270812, 0.5965558980796607, 0.2396395767982108, 0.14758623799455398, 0.45575209032911684, 0.26921388350978104, 0.857331146298756, 0.546532874107837, 0.592044572994274, 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|
handover_mic/random/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
|
|
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|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 500,
|
| 5 |
+
"total_frames": 141275,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
+
"fps": 20,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:500"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"data_files_size_in_mb": 100,
|
| 15 |
+
"video_files_size_in_mb": 200,
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
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14
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"left_arm_0",
|
| 24 |
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"left_arm_1",
|
| 25 |
+
"left_arm_2",
|
| 26 |
+
"left_arm_3",
|
| 27 |
+
"left_arm_4",
|
| 28 |
+
"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
+
"right_arm_5",
|
| 36 |
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"right_gripper"
|
| 37 |
+
]
|
| 38 |
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},
|
| 39 |
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"action": {
|
| 40 |
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"dtype": "float32",
|
| 41 |
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"shape": [
|
| 42 |
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14
|
| 43 |
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],
|
| 44 |
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"names": [
|
| 45 |
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"left_arm_0",
|
| 46 |
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"left_arm_1",
|
| 47 |
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"left_arm_2",
|
| 48 |
+
"left_arm_3",
|
| 49 |
+
"left_arm_4",
|
| 50 |
+
"left_arm_5",
|
| 51 |
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"left_gripper",
|
| 52 |
+
"right_arm_0",
|
| 53 |
+
"right_arm_1",
|
| 54 |
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"right_arm_2",
|
| 55 |
+
"right_arm_3",
|
| 56 |
+
"right_arm_4",
|
| 57 |
+
"right_arm_5",
|
| 58 |
+
"right_gripper"
|
| 59 |
+
]
|
| 60 |
+
},
|
| 61 |
+
"observation.endpose": {
|
| 62 |
+
"dtype": "float32",
|
| 63 |
+
"shape": [
|
| 64 |
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16
|
| 65 |
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],
|
| 66 |
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"names": [
|
| 67 |
+
"left_endpose_0",
|
| 68 |
+
"left_endpose_1",
|
| 69 |
+
"left_endpose_2",
|
| 70 |
+
"left_endpose_3",
|
| 71 |
+
"left_endpose_4",
|
| 72 |
+
"left_endpose_5",
|
| 73 |
+
"left_endpose_6",
|
| 74 |
+
"left_gripper",
|
| 75 |
+
"right_endpose_0",
|
| 76 |
+
"right_endpose_1",
|
| 77 |
+
"right_endpose_2",
|
| 78 |
+
"right_endpose_3",
|
| 79 |
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"right_endpose_4",
|
| 80 |
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"right_endpose_5",
|
| 81 |
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"right_endpose_6",
|
| 82 |
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"right_gripper"
|
| 83 |
+
]
|
| 84 |
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},
|
| 85 |
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"observation.images.head_camera": {
|
| 86 |
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"dtype": "video",
|
| 87 |
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"shape": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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],
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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"video.pix_fmt": "yuv420p",
|
| 125 |
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"video.is_depth_map": false,
|
| 126 |
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"video.fps": 20,
|
| 127 |
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"video.channels": 3,
|
| 128 |
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"has_audio": false
|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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"observation.images.left_camera": {
|
| 132 |
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"dtype": "video",
|
| 133 |
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"shape": [
|
| 134 |
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3,
|
| 135 |
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240,
|
| 136 |
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|
| 137 |
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],
|
| 138 |
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"names": [
|
| 139 |
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"channels",
|
| 140 |
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"height",
|
| 141 |
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"width"
|
| 142 |
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],
|
| 143 |
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"info": {
|
| 144 |
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"video.height": 240,
|
| 145 |
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"video.width": 320,
|
| 146 |
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"video.codec": "h264",
|
| 147 |
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"video.pix_fmt": "yuv420p",
|
| 148 |
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"video.is_depth_map": false,
|
| 149 |
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"video.fps": 20,
|
| 150 |
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"video.channels": 3,
|
| 151 |
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"has_audio": false
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
+
"observation.images.right_camera": {
|
| 155 |
+
"dtype": "video",
|
| 156 |
+
"shape": [
|
| 157 |
+
3,
|
| 158 |
+
240,
|
| 159 |
+
320
|
| 160 |
+
],
|
| 161 |
+
"names": [
|
| 162 |
+
"channels",
|
| 163 |
+
"height",
|
| 164 |
+
"width"
|
| 165 |
+
],
|
| 166 |
+
"info": {
|
| 167 |
+
"video.height": 240,
|
| 168 |
+
"video.width": 320,
|
| 169 |
+
"video.codec": "h264",
|
| 170 |
+
"video.pix_fmt": "yuv420p",
|
| 171 |
+
"video.is_depth_map": false,
|
| 172 |
+
"video.fps": 20,
|
| 173 |
+
"video.channels": 3,
|
| 174 |
+
"has_audio": false
|
| 175 |
+
}
|
| 176 |
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},
|
| 177 |
+
"annotation.is_error_frame": {
|
| 178 |
+
"dtype": "bool",
|
| 179 |
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"shape": [
|
| 180 |
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1
|
| 181 |
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],
|
| 182 |
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|
| 183 |
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},
|
| 184 |
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"annotation.phase": {
|
| 185 |
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"dtype": "int64",
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"names": null
|
| 190 |
+
},
|
| 191 |
+
"timestamp": {
|
| 192 |
+
"dtype": "float32",
|
| 193 |
+
"shape": [
|
| 194 |
+
1
|
| 195 |
+
],
|
| 196 |
+
"names": null
|
| 197 |
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},
|
| 198 |
+
"frame_index": {
|
| 199 |
+
"dtype": "int64",
|
| 200 |
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"shape": [
|
| 201 |
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1
|
| 202 |
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],
|
| 203 |
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"names": null
|
| 204 |
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},
|
| 205 |
+
"episode_index": {
|
| 206 |
+
"dtype": "int64",
|
| 207 |
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"shape": [
|
| 208 |
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1
|
| 209 |
+
],
|
| 210 |
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"names": null
|
| 211 |
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},
|
| 212 |
+
"index": {
|
| 213 |
+
"dtype": "int64",
|
| 214 |
+
"shape": [
|
| 215 |
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1
|
| 216 |
+
],
|
| 217 |
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"names": null
|
| 218 |
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},
|
| 219 |
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"task_index": {
|
| 220 |
+
"dtype": "int64",
|
| 221 |
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"shape": [
|
| 222 |
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1
|
| 223 |
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],
|
| 224 |
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"names": null
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
handover_mic/random/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
handover_mic/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
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|
move_can_pot/clean/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 50,
|
| 5 |
+
"total_frames": 11034,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 20,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:50"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"data_files_size_in_mb": 100,
|
| 15 |
+
"video_files_size_in_mb": 200,
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
14
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_0",
|
| 24 |
+
"left_arm_1",
|
| 25 |
+
"left_arm_2",
|
| 26 |
+
"left_arm_3",
|
| 27 |
+
"left_arm_4",
|
| 28 |
+
"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
+
"right_arm_5",
|
| 36 |
+
"right_gripper"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"action": {
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"shape": [
|
| 42 |
+
14
|
| 43 |
+
],
|
| 44 |
+
"names": [
|
| 45 |
+
"left_arm_0",
|
| 46 |
+
"left_arm_1",
|
| 47 |
+
"left_arm_2",
|
| 48 |
+
"left_arm_3",
|
| 49 |
+
"left_arm_4",
|
| 50 |
+
"left_arm_5",
|
| 51 |
+
"left_gripper",
|
| 52 |
+
"right_arm_0",
|
| 53 |
+
"right_arm_1",
|
| 54 |
+
"right_arm_2",
|
| 55 |
+
"right_arm_3",
|
| 56 |
+
"right_arm_4",
|
| 57 |
+
"right_arm_5",
|
| 58 |
+
"right_gripper"
|
| 59 |
+
]
|
| 60 |
+
},
|
| 61 |
+
"observation.endpose": {
|
| 62 |
+
"dtype": "float32",
|
| 63 |
+
"shape": [
|
| 64 |
+
16
|
| 65 |
+
],
|
| 66 |
+
"names": [
|
| 67 |
+
"left_endpose_0",
|
| 68 |
+
"left_endpose_1",
|
| 69 |
+
"left_endpose_2",
|
| 70 |
+
"left_endpose_3",
|
| 71 |
+
"left_endpose_4",
|
| 72 |
+
"left_endpose_5",
|
| 73 |
+
"left_endpose_6",
|
| 74 |
+
"left_gripper",
|
| 75 |
+
"right_endpose_0",
|
| 76 |
+
"right_endpose_1",
|
| 77 |
+
"right_endpose_2",
|
| 78 |
+
"right_endpose_3",
|
| 79 |
+
"right_endpose_4",
|
| 80 |
+
"right_endpose_5",
|
| 81 |
+
"right_endpose_6",
|
| 82 |
+
"right_gripper"
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"observation.images.head_camera": {
|
| 86 |
+
"dtype": "video",
|
| 87 |
+
"shape": [
|
| 88 |
+
3,
|
| 89 |
+
240,
|
| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 105 |
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| 110 |
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| 111 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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|
| 118 |
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|
| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 126 |
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| 127 |
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| 128 |
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| 140 |
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| 141 |
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| 142 |
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| 189 |
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|
| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 197 |
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|
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| 205 |
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| 206 |
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| 212 |
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| 213 |
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| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
move_can_pot/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
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|
|
|
|
|
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|
| 1 |
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{
|
| 2 |
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"0": "normal",
|
| 3 |
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"1": "recovery",
|
| 4 |
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"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
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"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
move_can_pot/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
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|
move_can_pot/random/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 500,
|
| 5 |
+
"total_frames": 111093,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 20,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:500"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"data_files_size_in_mb": 100,
|
| 15 |
+
"video_files_size_in_mb": 200,
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
14
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_0",
|
| 24 |
+
"left_arm_1",
|
| 25 |
+
"left_arm_2",
|
| 26 |
+
"left_arm_3",
|
| 27 |
+
"left_arm_4",
|
| 28 |
+
"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
+
"right_arm_5",
|
| 36 |
+
"right_gripper"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"action": {
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"shape": [
|
| 42 |
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14
|
| 43 |
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],
|
| 44 |
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"names": [
|
| 45 |
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"left_arm_0",
|
| 46 |
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"left_arm_1",
|
| 47 |
+
"left_arm_2",
|
| 48 |
+
"left_arm_3",
|
| 49 |
+
"left_arm_4",
|
| 50 |
+
"left_arm_5",
|
| 51 |
+
"left_gripper",
|
| 52 |
+
"right_arm_0",
|
| 53 |
+
"right_arm_1",
|
| 54 |
+
"right_arm_2",
|
| 55 |
+
"right_arm_3",
|
| 56 |
+
"right_arm_4",
|
| 57 |
+
"right_arm_5",
|
| 58 |
+
"right_gripper"
|
| 59 |
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]
|
| 60 |
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},
|
| 61 |
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"observation.endpose": {
|
| 62 |
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"dtype": "float32",
|
| 63 |
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"shape": [
|
| 64 |
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|
| 65 |
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],
|
| 66 |
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"names": [
|
| 67 |
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"left_endpose_0",
|
| 68 |
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"left_endpose_1",
|
| 69 |
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"left_endpose_2",
|
| 70 |
+
"left_endpose_3",
|
| 71 |
+
"left_endpose_4",
|
| 72 |
+
"left_endpose_5",
|
| 73 |
+
"left_endpose_6",
|
| 74 |
+
"left_gripper",
|
| 75 |
+
"right_endpose_0",
|
| 76 |
+
"right_endpose_1",
|
| 77 |
+
"right_endpose_2",
|
| 78 |
+
"right_endpose_3",
|
| 79 |
+
"right_endpose_4",
|
| 80 |
+
"right_endpose_5",
|
| 81 |
+
"right_endpose_6",
|
| 82 |
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"right_gripper"
|
| 83 |
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]
|
| 84 |
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},
|
| 85 |
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"observation.images.head_camera": {
|
| 86 |
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"dtype": "video",
|
| 87 |
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"shape": [
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| 88 |
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|
| 89 |
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|
| 90 |
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320
|
| 91 |
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|
| 92 |
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"names": [
|
| 93 |
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"channels",
|
| 94 |
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"height",
|
| 95 |
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"width"
|
| 96 |
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|
| 97 |
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"info": {
|
| 98 |
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"video.height": 240,
|
| 99 |
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"video.width": 320,
|
| 100 |
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"video.codec": "h264",
|
| 101 |
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|
| 102 |
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"video.is_depth_map": false,
|
| 103 |
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|
| 104 |
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"video.channels": 3,
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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"dtype": "video",
|
| 110 |
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| 111 |
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|
| 112 |
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240,
|
| 113 |
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320
|
| 114 |
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|
| 115 |
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|
| 116 |
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"channels",
|
| 117 |
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"height",
|
| 118 |
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"width"
|
| 119 |
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],
|
| 120 |
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|
| 121 |
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"video.height": 240,
|
| 122 |
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"video.width": 320,
|
| 123 |
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"video.codec": "h264",
|
| 124 |
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"video.pix_fmt": "yuv420p",
|
| 125 |
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"video.is_depth_map": false,
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| 126 |
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"video.fps": 20,
|
| 127 |
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"video.channels": 3,
|
| 128 |
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"has_audio": false
|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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|
| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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"channels",
|
| 140 |
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"height",
|
| 141 |
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"width"
|
| 142 |
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],
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| 143 |
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|
| 144 |
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"video.height": 240,
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| 145 |
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"video.width": 320,
|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 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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240,
|
| 159 |
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320
|
| 160 |
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|
| 161 |
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|
| 162 |
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"channels",
|
| 163 |
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"height",
|
| 164 |
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"width"
|
| 165 |
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],
|
| 166 |
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"info": {
|
| 167 |
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"video.height": 240,
|
| 168 |
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"video.width": 320,
|
| 169 |
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|
| 170 |
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"video.pix_fmt": "yuv420p",
|
| 171 |
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"video.is_depth_map": false,
|
| 172 |
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|
| 173 |
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"video.channels": 3,
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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"annotation.is_error_frame": {
|
| 178 |
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"dtype": "bool",
|
| 179 |
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|
| 180 |
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|
| 181 |
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],
|
| 182 |
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|
| 183 |
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|
| 184 |
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"annotation.phase": {
|
| 185 |
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"dtype": "int64",
|
| 186 |
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"shape": [
|
| 187 |
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1
|
| 188 |
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],
|
| 189 |
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"names": null
|
| 190 |
+
},
|
| 191 |
+
"timestamp": {
|
| 192 |
+
"dtype": "float32",
|
| 193 |
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"shape": [
|
| 194 |
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|
| 195 |
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],
|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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],
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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"dtype": "int64",
|
| 207 |
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|
| 208 |
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|
| 209 |
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],
|
| 210 |
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|
| 211 |
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|
| 212 |
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"index": {
|
| 213 |
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"dtype": "int64",
|
| 214 |
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|
| 215 |
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1
|
| 216 |
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],
|
| 217 |
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|
| 218 |
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},
|
| 219 |
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"task_index": {
|
| 220 |
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"dtype": "int64",
|
| 221 |
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"shape": [
|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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}
|
| 226 |
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}
|
| 227 |
+
}
|
move_can_pot/random/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
move_can_pot/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-3.158726930618286, 0.0, 0.0, -1.9468481540679932, -0.8898615837097168, -3.186605215072632, 0.0, -0.34530922770500183, -0.7104240655899048, 0.0, -2.0932564735412598, -1.316315770149231, -6.979123592376709, 0.0], "max": [3.264331817626953, 3.215791702270508, 5.095749855041504, 1.7946208715438843, 1.618735432624817, 3.4080700874328613, 1.0, 3.5985188484191895, 3.137057065963745, 5.181051254272461, 1.9305773973464966, 1.3650392293930054, 6.637883186340332, 1.0], "mean": [-0.0025802012760440408, 0.8994581557973956, 0.7908381585919115, -0.3477411694891889, 0.06412059326805417, 0.12216375085033791, 0.8189225678213519, 0.03347267221589754, 1.3179692080937138, 1.2044124791255297, -0.6588032950282952, -0.02755537792390162, -0.18018006678758292, 0.7394798789656786], "std": [0.19395540618609666, 1.1575194408158427, 1.0669028632366633, 0.675749289830592, 0.22103452545726365, 0.3107165181851575, 0.35925470727609743, 0.14767740170312424, 1.1850101987838049, 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|
move_pillbottle_pad/clean/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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"splits": {
|
| 10 |
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"train": "0:50"
|
| 11 |
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|
| 12 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
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"data_files_size_in_mb": 100,
|
| 15 |
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"video_files_size_in_mb": 200,
|
| 16 |
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"features": {
|
| 17 |
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"observation.state": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
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14
|
| 21 |
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],
|
| 22 |
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|
| 23 |
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"left_arm_0",
|
| 24 |
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"left_arm_1",
|
| 25 |
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"left_arm_2",
|
| 26 |
+
"left_arm_3",
|
| 27 |
+
"left_arm_4",
|
| 28 |
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"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
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"right_arm_5",
|
| 36 |
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"right_gripper"
|
| 37 |
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]
|
| 38 |
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},
|
| 39 |
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"action": {
|
| 40 |
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"dtype": "float32",
|
| 41 |
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"shape": [
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| 42 |
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|
| 43 |
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|
| 44 |
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"names": [
|
| 45 |
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"left_arm_0",
|
| 46 |
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"left_arm_1",
|
| 47 |
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"left_arm_2",
|
| 48 |
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"left_arm_3",
|
| 49 |
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"left_arm_4",
|
| 50 |
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"left_arm_5",
|
| 51 |
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"left_gripper",
|
| 52 |
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"right_arm_0",
|
| 53 |
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"right_arm_1",
|
| 54 |
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"right_arm_2",
|
| 55 |
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"right_arm_3",
|
| 56 |
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"right_arm_4",
|
| 57 |
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"right_arm_5",
|
| 58 |
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"right_gripper"
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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"dtype": "float32",
|
| 63 |
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"shape": [
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| 64 |
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|
| 65 |
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|
| 66 |
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"names": [
|
| 67 |
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"left_endpose_0",
|
| 68 |
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"left_endpose_1",
|
| 69 |
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"left_endpose_2",
|
| 70 |
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"left_endpose_3",
|
| 71 |
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"left_endpose_4",
|
| 72 |
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"left_endpose_5",
|
| 73 |
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"left_endpose_6",
|
| 74 |
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"left_gripper",
|
| 75 |
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"right_endpose_0",
|
| 76 |
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"right_endpose_1",
|
| 77 |
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"right_endpose_2",
|
| 78 |
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"right_endpose_3",
|
| 79 |
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"right_endpose_4",
|
| 80 |
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"right_endpose_5",
|
| 81 |
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"right_endpose_6",
|
| 82 |
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"right_gripper"
|
| 83 |
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|
| 84 |
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|
| 85 |
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"observation.images.head_camera": {
|
| 86 |
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"dtype": "video",
|
| 87 |
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"shape": [
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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"names": [
|
| 93 |
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"channels",
|
| 94 |
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"height",
|
| 95 |
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"width"
|
| 96 |
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|
| 97 |
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| 98 |
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"video.height": 240,
|
| 99 |
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"video.width": 320,
|
| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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|
| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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|
| 115 |
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| 116 |
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"channels",
|
| 117 |
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"height",
|
| 118 |
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"width"
|
| 119 |
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|
| 120 |
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|
| 121 |
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"video.height": 240,
|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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| 126 |
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|
| 127 |
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"video.channels": 3,
|
| 128 |
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"has_audio": false
|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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"observation.images.left_camera": {
|
| 132 |
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"dtype": "video",
|
| 133 |
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| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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"names": [
|
| 139 |
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"channels",
|
| 140 |
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"height",
|
| 141 |
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"width"
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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|
| 148 |
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| 149 |
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|
| 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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240,
|
| 159 |
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320
|
| 160 |
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],
|
| 161 |
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"names": [
|
| 162 |
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"channels",
|
| 163 |
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"height",
|
| 164 |
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"width"
|
| 165 |
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|
| 166 |
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|
| 167 |
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"video.height": 240,
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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"video.is_depth_map": false,
|
| 172 |
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"video.fps": 20,
|
| 173 |
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"video.channels": 3,
|
| 174 |
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|
| 175 |
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}
|
| 176 |
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},
|
| 177 |
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"annotation.is_error_frame": {
|
| 178 |
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"dtype": "bool",
|
| 179 |
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"shape": [
|
| 180 |
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|
| 181 |
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],
|
| 182 |
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|
| 183 |
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},
|
| 184 |
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"annotation.phase": {
|
| 185 |
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"dtype": "int64",
|
| 186 |
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"shape": [
|
| 187 |
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|
| 188 |
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],
|
| 189 |
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|
| 190 |
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},
|
| 191 |
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"timestamp": {
|
| 192 |
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"dtype": "float32",
|
| 193 |
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"shape": [
|
| 194 |
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|
| 195 |
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],
|
| 196 |
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|
| 197 |
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|
| 198 |
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"frame_index": {
|
| 199 |
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"dtype": "int64",
|
| 200 |
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"shape": [
|
| 201 |
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|
| 202 |
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],
|
| 203 |
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|
| 204 |
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},
|
| 205 |
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"episode_index": {
|
| 206 |
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"dtype": "int64",
|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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},
|
| 212 |
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"index": {
|
| 213 |
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"dtype": "int64",
|
| 214 |
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"shape": [
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| 215 |
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|
| 216 |
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],
|
| 217 |
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|
| 218 |
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},
|
| 219 |
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"task_index": {
|
| 220 |
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"dtype": "int64",
|
| 221 |
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"shape": [
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| 222 |
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1
|
| 223 |
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],
|
| 224 |
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"names": null
|
| 225 |
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}
|
| 226 |
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}
|
| 227 |
+
}
|
move_pillbottle_pad/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
move_pillbottle_pad/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-0.7105254530906677, 0.0, 0.0, -1.9561327695846558, -0.09869115799665451, -0.7057298421859741, 0.0, 0.0, 0.0, 0.0, -2.1763758659362793, -1.0562949180603027, -3.441006898880005, 0.0], "max": [0.0, 2.895090103149414, 3.37185001373291, 0.0, 0.2098800092935562, 0.7289628386497498, 1.0, 4.042701721191406, 2.967498302459717, 4.904788494110107, 0.5757057070732117, 1.8286573886871338, 1.3874372243881226, 1.0], "mean": [-0.11703583580155377, 0.6760164135934401, 0.6209506910386924, -0.4460116956896544, 0.003158237935548761, 0.0859375790916037, 0.8422203516610303, 0.23827657636144742, 1.2374461574514226, 1.1376993721230337, -0.8087965683128874, 0.002829404120156337, -0.16914714219465002, 0.691254238062148], "std": [0.18632272935322594, 0.9698161371330719, 0.9146634128216028, 0.6408178563067964, 0.025265753650256517, 0.24521894348725812, 0.34290419579338594, 0.33471149409695516, 1.0038985671667016, 0.9906012549668782, 0.6704362674153599, 0.14223593953909394, 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|
move_pillbottle_pad/random/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 500,
|
| 5 |
+
"total_frames": 110217,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 20,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:500"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"data_files_size_in_mb": 100,
|
| 15 |
+
"video_files_size_in_mb": 200,
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
14
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_0",
|
| 24 |
+
"left_arm_1",
|
| 25 |
+
"left_arm_2",
|
| 26 |
+
"left_arm_3",
|
| 27 |
+
"left_arm_4",
|
| 28 |
+
"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
+
"right_arm_5",
|
| 36 |
+
"right_gripper"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"action": {
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"shape": [
|
| 42 |
+
14
|
| 43 |
+
],
|
| 44 |
+
"names": [
|
| 45 |
+
"left_arm_0",
|
| 46 |
+
"left_arm_1",
|
| 47 |
+
"left_arm_2",
|
| 48 |
+
"left_arm_3",
|
| 49 |
+
"left_arm_4",
|
| 50 |
+
"left_arm_5",
|
| 51 |
+
"left_gripper",
|
| 52 |
+
"right_arm_0",
|
| 53 |
+
"right_arm_1",
|
| 54 |
+
"right_arm_2",
|
| 55 |
+
"right_arm_3",
|
| 56 |
+
"right_arm_4",
|
| 57 |
+
"right_arm_5",
|
| 58 |
+
"right_gripper"
|
| 59 |
+
]
|
| 60 |
+
},
|
| 61 |
+
"observation.endpose": {
|
| 62 |
+
"dtype": "float32",
|
| 63 |
+
"shape": [
|
| 64 |
+
16
|
| 65 |
+
],
|
| 66 |
+
"names": [
|
| 67 |
+
"left_endpose_0",
|
| 68 |
+
"left_endpose_1",
|
| 69 |
+
"left_endpose_2",
|
| 70 |
+
"left_endpose_3",
|
| 71 |
+
"left_endpose_4",
|
| 72 |
+
"left_endpose_5",
|
| 73 |
+
"left_endpose_6",
|
| 74 |
+
"left_gripper",
|
| 75 |
+
"right_endpose_0",
|
| 76 |
+
"right_endpose_1",
|
| 77 |
+
"right_endpose_2",
|
| 78 |
+
"right_endpose_3",
|
| 79 |
+
"right_endpose_4",
|
| 80 |
+
"right_endpose_5",
|
| 81 |
+
"right_endpose_6",
|
| 82 |
+
"right_gripper"
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
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"observation.images.head_camera": {
|
| 86 |
+
"dtype": "video",
|
| 87 |
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"shape": [
|
| 88 |
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3,
|
| 89 |
+
240,
|
| 90 |
+
320
|
| 91 |
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],
|
| 92 |
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"names": [
|
| 93 |
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"channels",
|
| 94 |
+
"height",
|
| 95 |
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"width"
|
| 96 |
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],
|
| 97 |
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"info": {
|
| 98 |
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"video.height": 240,
|
| 99 |
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"video.width": 320,
|
| 100 |
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"video.codec": "h264",
|
| 101 |
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"video.pix_fmt": "yuv420p",
|
| 102 |
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"video.is_depth_map": false,
|
| 103 |
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"video.fps": 20,
|
| 104 |
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"video.channels": 3,
|
| 105 |
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"has_audio": false
|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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"observation.images.front_camera": {
|
| 109 |
+
"dtype": "video",
|
| 110 |
+
"shape": [
|
| 111 |
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3,
|
| 112 |
+
240,
|
| 113 |
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320
|
| 114 |
+
],
|
| 115 |
+
"names": [
|
| 116 |
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"channels",
|
| 117 |
+
"height",
|
| 118 |
+
"width"
|
| 119 |
+
],
|
| 120 |
+
"info": {
|
| 121 |
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"video.height": 240,
|
| 122 |
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"video.width": 320,
|
| 123 |
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"video.codec": "h264",
|
| 124 |
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"video.pix_fmt": "yuv420p",
|
| 125 |
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"video.is_depth_map": false,
|
| 126 |
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"video.fps": 20,
|
| 127 |
+
"video.channels": 3,
|
| 128 |
+
"has_audio": false
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"observation.images.left_camera": {
|
| 132 |
+
"dtype": "video",
|
| 133 |
+
"shape": [
|
| 134 |
+
3,
|
| 135 |
+
240,
|
| 136 |
+
320
|
| 137 |
+
],
|
| 138 |
+
"names": [
|
| 139 |
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"channels",
|
| 140 |
+
"height",
|
| 141 |
+
"width"
|
| 142 |
+
],
|
| 143 |
+
"info": {
|
| 144 |
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"video.height": 240,
|
| 145 |
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"video.width": 320,
|
| 146 |
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"video.codec": "h264",
|
| 147 |
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"video.pix_fmt": "yuv420p",
|
| 148 |
+
"video.is_depth_map": false,
|
| 149 |
+
"video.fps": 20,
|
| 150 |
+
"video.channels": 3,
|
| 151 |
+
"has_audio": false
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"observation.images.right_camera": {
|
| 155 |
+
"dtype": "video",
|
| 156 |
+
"shape": [
|
| 157 |
+
3,
|
| 158 |
+
240,
|
| 159 |
+
320
|
| 160 |
+
],
|
| 161 |
+
"names": [
|
| 162 |
+
"channels",
|
| 163 |
+
"height",
|
| 164 |
+
"width"
|
| 165 |
+
],
|
| 166 |
+
"info": {
|
| 167 |
+
"video.height": 240,
|
| 168 |
+
"video.width": 320,
|
| 169 |
+
"video.codec": "h264",
|
| 170 |
+
"video.pix_fmt": "yuv420p",
|
| 171 |
+
"video.is_depth_map": false,
|
| 172 |
+
"video.fps": 20,
|
| 173 |
+
"video.channels": 3,
|
| 174 |
+
"has_audio": false
|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
"annotation.is_error_frame": {
|
| 178 |
+
"dtype": "bool",
|
| 179 |
+
"shape": [
|
| 180 |
+
1
|
| 181 |
+
],
|
| 182 |
+
"names": null
|
| 183 |
+
},
|
| 184 |
+
"annotation.phase": {
|
| 185 |
+
"dtype": "int64",
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"names": null
|
| 190 |
+
},
|
| 191 |
+
"timestamp": {
|
| 192 |
+
"dtype": "float32",
|
| 193 |
+
"shape": [
|
| 194 |
+
1
|
| 195 |
+
],
|
| 196 |
+
"names": null
|
| 197 |
+
},
|
| 198 |
+
"frame_index": {
|
| 199 |
+
"dtype": "int64",
|
| 200 |
+
"shape": [
|
| 201 |
+
1
|
| 202 |
+
],
|
| 203 |
+
"names": null
|
| 204 |
+
},
|
| 205 |
+
"episode_index": {
|
| 206 |
+
"dtype": "int64",
|
| 207 |
+
"shape": [
|
| 208 |
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1
|
| 209 |
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],
|
| 210 |
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"names": null
|
| 211 |
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},
|
| 212 |
+
"index": {
|
| 213 |
+
"dtype": "int64",
|
| 214 |
+
"shape": [
|
| 215 |
+
1
|
| 216 |
+
],
|
| 217 |
+
"names": null
|
| 218 |
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},
|
| 219 |
+
"task_index": {
|
| 220 |
+
"dtype": "int64",
|
| 221 |
+
"shape": [
|
| 222 |
+
1
|
| 223 |
+
],
|
| 224 |
+
"names": null
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
move_pillbottle_pad/random/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
move_pillbottle_pad/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-3.524474620819092, 0.0, 0.0, -1.956606149673462, -1.250543475151062, -6.376683235168457, 0.0, -6.557548522949219, 0.0, -0.05275578051805496, -2.2069389820098877, -0.8909556269645691, -3.81400728225708, 0.0], "max": [3.0603315830230713, 3.0529701709747314, 5.415709495544434, 1.7862353324890137, 1.5551700592041016, 3.5642426013946533, 1.0, 4.1100568771362305, 2.9792637825012207, 5.55067777633667, 1.94283127784729, 2.0843992233276367, 5.475000381469727, 1.0], "mean": [-0.15410103333466238, 0.9341832278665021, 0.831618736868737, -0.5708882069526604, 0.00537128402340713, 0.11426373930707354, 0.7765306750170252, 0.17625938015283976, 1.0115734400378142, 0.9127612879502315, -0.6179321769412087, 0.00068694655846046, -0.12109738127782933, 0.7605293860210829], "std": [0.2581894145498864, 1.0366032801272473, 0.9669567496601446, 0.6627537614050542, 0.0806079351341238, 0.40800514823907547, 0.3885147946660825, 0.31108145940212806, 1.0516335017827314, 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|
move_playingcard_away/clean/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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| 1 |
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|
move_playingcard_away/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
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| 3 |
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| 4 |
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| 5 |
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|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
move_playingcard_away/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
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|
move_playingcard_away/random/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
|
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 500,
|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
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|
| 8 |
+
"fps": 20,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:500"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"data_files_size_in_mb": 100,
|
| 15 |
+
"video_files_size_in_mb": 200,
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
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14
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
+
"left_arm_0",
|
| 24 |
+
"left_arm_1",
|
| 25 |
+
"left_arm_2",
|
| 26 |
+
"left_arm_3",
|
| 27 |
+
"left_arm_4",
|
| 28 |
+
"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
+
"right_arm_5",
|
| 36 |
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"right_gripper"
|
| 37 |
+
]
|
| 38 |
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},
|
| 39 |
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"action": {
|
| 40 |
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"dtype": "float32",
|
| 41 |
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"shape": [
|
| 42 |
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14
|
| 43 |
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],
|
| 44 |
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"names": [
|
| 45 |
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"left_arm_0",
|
| 46 |
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"left_arm_1",
|
| 47 |
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"left_arm_2",
|
| 48 |
+
"left_arm_3",
|
| 49 |
+
"left_arm_4",
|
| 50 |
+
"left_arm_5",
|
| 51 |
+
"left_gripper",
|
| 52 |
+
"right_arm_0",
|
| 53 |
+
"right_arm_1",
|
| 54 |
+
"right_arm_2",
|
| 55 |
+
"right_arm_3",
|
| 56 |
+
"right_arm_4",
|
| 57 |
+
"right_arm_5",
|
| 58 |
+
"right_gripper"
|
| 59 |
+
]
|
| 60 |
+
},
|
| 61 |
+
"observation.endpose": {
|
| 62 |
+
"dtype": "float32",
|
| 63 |
+
"shape": [
|
| 64 |
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16
|
| 65 |
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],
|
| 66 |
+
"names": [
|
| 67 |
+
"left_endpose_0",
|
| 68 |
+
"left_endpose_1",
|
| 69 |
+
"left_endpose_2",
|
| 70 |
+
"left_endpose_3",
|
| 71 |
+
"left_endpose_4",
|
| 72 |
+
"left_endpose_5",
|
| 73 |
+
"left_endpose_6",
|
| 74 |
+
"left_gripper",
|
| 75 |
+
"right_endpose_0",
|
| 76 |
+
"right_endpose_1",
|
| 77 |
+
"right_endpose_2",
|
| 78 |
+
"right_endpose_3",
|
| 79 |
+
"right_endpose_4",
|
| 80 |
+
"right_endpose_5",
|
| 81 |
+
"right_endpose_6",
|
| 82 |
+
"right_gripper"
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
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"observation.images.head_camera": {
|
| 86 |
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"dtype": "video",
|
| 87 |
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"shape": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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],
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
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|
| 114 |
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|
| 115 |
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|
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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"has_audio": false
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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"dtype": "video",
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
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|
| 140 |
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|
| 141 |
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|
| 142 |
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],
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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"video.fps": 20,
|
| 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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|
| 159 |
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|
| 160 |
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|
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
"annotation.is_error_frame": {
|
| 178 |
+
"dtype": "bool",
|
| 179 |
+
"shape": [
|
| 180 |
+
1
|
| 181 |
+
],
|
| 182 |
+
"names": null
|
| 183 |
+
},
|
| 184 |
+
"annotation.phase": {
|
| 185 |
+
"dtype": "int64",
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"names": null
|
| 190 |
+
},
|
| 191 |
+
"timestamp": {
|
| 192 |
+
"dtype": "float32",
|
| 193 |
+
"shape": [
|
| 194 |
+
1
|
| 195 |
+
],
|
| 196 |
+
"names": null
|
| 197 |
+
},
|
| 198 |
+
"frame_index": {
|
| 199 |
+
"dtype": "int64",
|
| 200 |
+
"shape": [
|
| 201 |
+
1
|
| 202 |
+
],
|
| 203 |
+
"names": null
|
| 204 |
+
},
|
| 205 |
+
"episode_index": {
|
| 206 |
+
"dtype": "int64",
|
| 207 |
+
"shape": [
|
| 208 |
+
1
|
| 209 |
+
],
|
| 210 |
+
"names": null
|
| 211 |
+
},
|
| 212 |
+
"index": {
|
| 213 |
+
"dtype": "int64",
|
| 214 |
+
"shape": [
|
| 215 |
+
1
|
| 216 |
+
],
|
| 217 |
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"names": null
|
| 218 |
+
},
|
| 219 |
+
"task_index": {
|
| 220 |
+
"dtype": "int64",
|
| 221 |
+
"shape": [
|
| 222 |
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1
|
| 223 |
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],
|
| 224 |
+
"names": null
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
move_playingcard_away/random/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
move_playingcard_away/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-1.826917052268982, 0.0, 0.0, -1.9521342515945435, -2.027048110961914, -3.9133918285369873, 0.0, -3.4473419189453125, -0.25338029861450195, 0.0, -2.054952383041382, -1.692807912826538, -3.147494077682495, 0.0], "max": [0.7583357095718384, 3.274590015411377, 3.446781873703003, 0.32798999547958374, 2.151674509048462, 2.6353626251220703, 1.0, 0.9832024574279785, 3.421783924102783, 5.1403913497924805, 1.6497511863708496, 2.3253085613250732, 8.313224792480469, 1.0], "mean": [-0.19976758979358303, 0.9702574978804165, 0.6807965559115527, -0.4158567351527276, 0.0025355434177039044, 0.04654982130144452, 0.8366026841456741, 0.1985134705045387, 1.0109089358693946, 0.7248894553830485, -0.43234734002146696, 0.0034932748041449665, -0.08692985705542966, 0.8326598004902611], "std": [0.31252093969006195, 1.0702705232542162, 0.7942419538305954, 0.47087999732186886, 0.0598800462023498, 0.6644908508720188, 0.3355093192109775, 0.33064973905396805, 1.0783923812776135, 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|
open_microwave/clean/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
|
|
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|
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|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 50,
|
| 5 |
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"total_frames": 29033,
|
| 6 |
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|
| 7 |
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|
| 8 |
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"fps": 20,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:50"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
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"data_files_size_in_mb": 100,
|
| 15 |
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"video_files_size_in_mb": 200,
|
| 16 |
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"features": {
|
| 17 |
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"observation.state": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
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14
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"left_arm_0",
|
| 24 |
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"left_arm_1",
|
| 25 |
+
"left_arm_2",
|
| 26 |
+
"left_arm_3",
|
| 27 |
+
"left_arm_4",
|
| 28 |
+
"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
+
"right_arm_5",
|
| 36 |
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"right_gripper"
|
| 37 |
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]
|
| 38 |
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},
|
| 39 |
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"action": {
|
| 40 |
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"dtype": "float32",
|
| 41 |
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"shape": [
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| 42 |
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14
|
| 43 |
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],
|
| 44 |
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"names": [
|
| 45 |
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"left_arm_0",
|
| 46 |
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"left_arm_1",
|
| 47 |
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"left_arm_2",
|
| 48 |
+
"left_arm_3",
|
| 49 |
+
"left_arm_4",
|
| 50 |
+
"left_arm_5",
|
| 51 |
+
"left_gripper",
|
| 52 |
+
"right_arm_0",
|
| 53 |
+
"right_arm_1",
|
| 54 |
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"right_arm_2",
|
| 55 |
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"right_arm_3",
|
| 56 |
+
"right_arm_4",
|
| 57 |
+
"right_arm_5",
|
| 58 |
+
"right_gripper"
|
| 59 |
+
]
|
| 60 |
+
},
|
| 61 |
+
"observation.endpose": {
|
| 62 |
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"dtype": "float32",
|
| 63 |
+
"shape": [
|
| 64 |
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16
|
| 65 |
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],
|
| 66 |
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"names": [
|
| 67 |
+
"left_endpose_0",
|
| 68 |
+
"left_endpose_1",
|
| 69 |
+
"left_endpose_2",
|
| 70 |
+
"left_endpose_3",
|
| 71 |
+
"left_endpose_4",
|
| 72 |
+
"left_endpose_5",
|
| 73 |
+
"left_endpose_6",
|
| 74 |
+
"left_gripper",
|
| 75 |
+
"right_endpose_0",
|
| 76 |
+
"right_endpose_1",
|
| 77 |
+
"right_endpose_2",
|
| 78 |
+
"right_endpose_3",
|
| 79 |
+
"right_endpose_4",
|
| 80 |
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"right_endpose_5",
|
| 81 |
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"right_endpose_6",
|
| 82 |
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"right_gripper"
|
| 83 |
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]
|
| 84 |
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},
|
| 85 |
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"observation.images.head_camera": {
|
| 86 |
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"dtype": "video",
|
| 87 |
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"shape": [
|
| 88 |
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3,
|
| 89 |
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|
| 90 |
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|
| 91 |
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],
|
| 92 |
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"names": [
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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3,
|
| 112 |
+
240,
|
| 113 |
+
320
|
| 114 |
+
],
|
| 115 |
+
"names": [
|
| 116 |
+
"channels",
|
| 117 |
+
"height",
|
| 118 |
+
"width"
|
| 119 |
+
],
|
| 120 |
+
"info": {
|
| 121 |
+
"video.height": 240,
|
| 122 |
+
"video.width": 320,
|
| 123 |
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"video.codec": "h264",
|
| 124 |
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"video.pix_fmt": "yuv420p",
|
| 125 |
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"video.is_depth_map": false,
|
| 126 |
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"video.fps": 20,
|
| 127 |
+
"video.channels": 3,
|
| 128 |
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"has_audio": false
|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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"observation.images.left_camera": {
|
| 132 |
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"dtype": "video",
|
| 133 |
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"shape": [
|
| 134 |
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3,
|
| 135 |
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240,
|
| 136 |
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320
|
| 137 |
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],
|
| 138 |
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"names": [
|
| 139 |
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"channels",
|
| 140 |
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"height",
|
| 141 |
+
"width"
|
| 142 |
+
],
|
| 143 |
+
"info": {
|
| 144 |
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"video.height": 240,
|
| 145 |
+
"video.width": 320,
|
| 146 |
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"video.codec": "h264",
|
| 147 |
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"video.pix_fmt": "yuv420p",
|
| 148 |
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"video.is_depth_map": false,
|
| 149 |
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"video.fps": 20,
|
| 150 |
+
"video.channels": 3,
|
| 151 |
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"has_audio": false
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"observation.images.right_camera": {
|
| 155 |
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"dtype": "video",
|
| 156 |
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"shape": [
|
| 157 |
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3,
|
| 158 |
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240,
|
| 159 |
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320
|
| 160 |
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],
|
| 161 |
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"names": [
|
| 162 |
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"channels",
|
| 163 |
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"height",
|
| 164 |
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"width"
|
| 165 |
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],
|
| 166 |
+
"info": {
|
| 167 |
+
"video.height": 240,
|
| 168 |
+
"video.width": 320,
|
| 169 |
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"video.codec": "h264",
|
| 170 |
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"video.pix_fmt": "yuv420p",
|
| 171 |
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"video.is_depth_map": false,
|
| 172 |
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"video.fps": 20,
|
| 173 |
+
"video.channels": 3,
|
| 174 |
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"has_audio": false
|
| 175 |
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}
|
| 176 |
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},
|
| 177 |
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"annotation.is_error_frame": {
|
| 178 |
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"dtype": "bool",
|
| 179 |
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"shape": [
|
| 180 |
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1
|
| 181 |
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],
|
| 182 |
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"names": null
|
| 183 |
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},
|
| 184 |
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"annotation.phase": {
|
| 185 |
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"dtype": "int64",
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"names": null
|
| 190 |
+
},
|
| 191 |
+
"timestamp": {
|
| 192 |
+
"dtype": "float32",
|
| 193 |
+
"shape": [
|
| 194 |
+
1
|
| 195 |
+
],
|
| 196 |
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"names": null
|
| 197 |
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},
|
| 198 |
+
"frame_index": {
|
| 199 |
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"dtype": "int64",
|
| 200 |
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"shape": [
|
| 201 |
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1
|
| 202 |
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],
|
| 203 |
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"names": null
|
| 204 |
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},
|
| 205 |
+
"episode_index": {
|
| 206 |
+
"dtype": "int64",
|
| 207 |
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"shape": [
|
| 208 |
+
1
|
| 209 |
+
],
|
| 210 |
+
"names": null
|
| 211 |
+
},
|
| 212 |
+
"index": {
|
| 213 |
+
"dtype": "int64",
|
| 214 |
+
"shape": [
|
| 215 |
+
1
|
| 216 |
+
],
|
| 217 |
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"names": null
|
| 218 |
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},
|
| 219 |
+
"task_index": {
|
| 220 |
+
"dtype": "int64",
|
| 221 |
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"shape": [
|
| 222 |
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1
|
| 223 |
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],
|
| 224 |
+
"names": null
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
open_microwave/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
open_microwave/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-4.036600112915039, -0.06581605970859528, 0.0, -1.9472476243972778, -0.8940999507904053, -1.9313074350357056, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "max": [2.4298601150512695, 2.6981201171875, 3.745626449584961, 1.7053688764572144, 2.2899298667907715, 1.3323233127593994, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "mean": [-0.5192860800901892, 1.9212368252554577, 1.522176976558059, -0.5326946122334307, -0.06990910343718913, -0.18664274289903335, 0.20025055527780614, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "std": [0.2866456265053018, 0.38065720003643433, 0.4980848387791892, 0.3959308377763805, 0.3257141395274828, 0.4342262160730991, 0.3836664741606545, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [29033]}, "action": {"min": [-4.036600112915039, -0.06581605970859528, 0.0, -1.9472476243972778, -0.8940999507904053, -1.9313074350357056, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "max": [2.4298601150512695, 2.6981201171875, 3.745626449584961, 1.7053688764572144, 2.2899298667907715, 1.3323233127593994, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "mean": [-0.5192860800901892, 1.9212368252554577, 1.522176976558059, -0.5326946122334307, -0.06990910343718913, -0.18664274289903335, 0.20025055527780614, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "std": [0.2866456265053018, 0.38065720003643433, 0.4980848387791892, 0.3959308377763805, 0.3257141395274828, 0.4342262160730991, 0.3836664741606545, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [29033]}, "observation.endpose": {"min": [-0.40882036089897156, -0.4654736816883087, 0.8639022707939148, 0.0030005474109202623, -0.7056195735931396, -0.5243368148803711, -0.9916272759437561, 0.0, 0.30643290281295776, -0.3128008544445038, 0.9409990310668945, 0.7035605907440186, -6.266860964387888e-06, -9.634984053263906e-06, 0.7106332182884216, 1.0], "max": [0.12472358345985413, 0.04466208443045616, 1.4471352100372314, 0.9953917860984802, 0.2529948353767395, 0.49815985560417175, 0.9605075716972351, 1.0, 0.30643317103385925, -0.31279999017715454, 0.9410033822059631, 0.7035626769065857, -4.945232490172202e-07, -4.65799666926614e-06, 0.710635244846344, 1.0], "mean": [-0.09648444646670228, -0.06354154613589803, 0.9924438684892364, 0.7092648375221248, -0.26141174253333305, 0.3289456076596244, 0.517593175920289, 0.20025055527780614, 0.3064331286292184, -0.3128007996972485, 0.9410033300598544, 0.7035623424981065, -9.887475930572826e-07, -9.433448649647746e-06, 0.710633496565926, 1.0], "std": [0.07425187109578468, 0.054212881314401204, 0.047433979694951715, 0.11626797948942426, 0.10334349556235373, 0.08645774255635211, 0.14431326926596047, 0.3836664741606545, 1.1175870895385742e-08, 7.204368563672049e-08, 3.5591634847212395e-07, 3.268079787412481e-07, 4.636980225597269e-07, 3.914289469285124e-07, 3.1697820702467336e-07, 0.0], "count": [29033]}, "annotation.is_error_frame": {"min": [0.0], "max": [1.0], "mean": [0.03444356422002549], "std": [0.1823655809187865], "count": [29033]}, "annotation.phase": {"min": [0.0], "max": [6.0], "mean": [4.136430957875521], "std": [1.711864190237055], "count": [29033]}, "timestamp": {"min": [0.0], "max": [50.400001525878906], "mean": [15.694506250718094], "std": [10.466546452705066], "count": [29033]}, "frame_index": {"min": [0.0], "max": [1008.0], "mean": [313.8901250301381], "std": [209.33092906632407], "count": [29033]}, "episode_index": {"min": [0.0], "max": [49.0], "mean": [25.988840285192712], "std": [14.595361300643132], "count": [29033]}, "index": {"min": [0.0], "max": [29032.0], "mean": [14516.0], "std": [8381.105177719703], "count": [29033]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [29033]}, "observation.images.head_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.8545992556475528]], [[0.8375646596387103]], [[0.8397857263103476]]], "std": [[[0.2307077786751948]], [[0.22608281653796655]], [[0.22703453840824883]]], "count": [29033]}, "observation.images.front_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.8264568039030881]], [[0.7990778563421805]], [[0.800242560019564]]], "std": [[[0.20768897632512195]], [[0.1993181133917561]], [[0.19990721568050104]]], "count": [29033]}, "observation.images.left_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6365596476249221]], [[0.6275385001995558]], [[0.6268271686923294]]], "std": [[[0.20327612943774345]], [[0.1973925309081259]], [[0.196721506743984]]], "count": [29033]}, "observation.images.right_camera": {"min": [[[0.1568627506494522]], [[0.15294118225574493]], [[0.14901961386203766]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.9186818774079629]], [[0.8855666647186669]], [[0.8865579851239497]]], "std": [[[0.10352128076338361]], [[0.11067098771119269]], [[0.11075887200157862]]], "count": [29033]}}
|
place_bread_skillet/clean/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 50,
|
| 5 |
+
"total_frames": 11576,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 20,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:50"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"data_files_size_in_mb": 100,
|
| 15 |
+
"video_files_size_in_mb": 200,
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
14
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_0",
|
| 24 |
+
"left_arm_1",
|
| 25 |
+
"left_arm_2",
|
| 26 |
+
"left_arm_3",
|
| 27 |
+
"left_arm_4",
|
| 28 |
+
"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
+
"right_arm_5",
|
| 36 |
+
"right_gripper"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"action": {
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"shape": [
|
| 42 |
+
14
|
| 43 |
+
],
|
| 44 |
+
"names": [
|
| 45 |
+
"left_arm_0",
|
| 46 |
+
"left_arm_1",
|
| 47 |
+
"left_arm_2",
|
| 48 |
+
"left_arm_3",
|
| 49 |
+
"left_arm_4",
|
| 50 |
+
"left_arm_5",
|
| 51 |
+
"left_gripper",
|
| 52 |
+
"right_arm_0",
|
| 53 |
+
"right_arm_1",
|
| 54 |
+
"right_arm_2",
|
| 55 |
+
"right_arm_3",
|
| 56 |
+
"right_arm_4",
|
| 57 |
+
"right_arm_5",
|
| 58 |
+
"right_gripper"
|
| 59 |
+
]
|
| 60 |
+
},
|
| 61 |
+
"observation.endpose": {
|
| 62 |
+
"dtype": "float32",
|
| 63 |
+
"shape": [
|
| 64 |
+
16
|
| 65 |
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|
| 66 |
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| 67 |
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"left_endpose_0",
|
| 68 |
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|
| 69 |
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|
| 70 |
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"left_endpose_3",
|
| 71 |
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"left_endpose_4",
|
| 72 |
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|
| 73 |
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|
| 74 |
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"left_gripper",
|
| 75 |
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"right_endpose_0",
|
| 76 |
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"right_endpose_1",
|
| 77 |
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"right_endpose_2",
|
| 78 |
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"right_endpose_3",
|
| 79 |
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|
| 80 |
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|
| 81 |
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"right_endpose_6",
|
| 82 |
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"right_gripper"
|
| 83 |
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|
| 84 |
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| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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| 91 |
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| 92 |
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|
| 93 |
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| 94 |
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|
| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 103 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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|
| 118 |
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|
| 119 |
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| 120 |
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| 121 |
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| 122 |
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|
| 123 |
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| 124 |
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| 125 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 160 |
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| 164 |
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| 170 |
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| 184 |
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| 185 |
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| 187 |
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| 188 |
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| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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| 193 |
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| 194 |
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| 196 |
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| 197 |
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| 198 |
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| 199 |
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| 200 |
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|
| 204 |
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| 205 |
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|
| 206 |
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| 210 |
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|
| 211 |
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| 212 |
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| 213 |
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| 214 |
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| 217 |
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| 218 |
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| 219 |
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| 220 |
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| 225 |
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|
| 226 |
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|
| 227 |
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|
place_bread_skillet/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
place_bread_skillet/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
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|
place_bread_skillet/random/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 500,
|
| 5 |
+
"total_frames": 116281,
|
| 6 |
+
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|
| 7 |
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|
| 8 |
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"fps": 20,
|
| 9 |
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"splits": {
|
| 10 |
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"train": "0:500"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
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"data_files_size_in_mb": 100,
|
| 15 |
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"video_files_size_in_mb": 200,
|
| 16 |
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"features": {
|
| 17 |
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"observation.state": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
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14
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"left_arm_0",
|
| 24 |
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"left_arm_1",
|
| 25 |
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"left_arm_2",
|
| 26 |
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"left_arm_3",
|
| 27 |
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"left_arm_4",
|
| 28 |
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"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
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"right_arm_5",
|
| 36 |
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"right_gripper"
|
| 37 |
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]
|
| 38 |
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},
|
| 39 |
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"action": {
|
| 40 |
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"dtype": "float32",
|
| 41 |
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"shape": [
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| 42 |
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|
| 43 |
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|
| 44 |
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"names": [
|
| 45 |
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"left_arm_0",
|
| 46 |
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"left_arm_1",
|
| 47 |
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"left_arm_2",
|
| 48 |
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"left_arm_3",
|
| 49 |
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"left_arm_4",
|
| 50 |
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"left_arm_5",
|
| 51 |
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"left_gripper",
|
| 52 |
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"right_arm_0",
|
| 53 |
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"right_arm_1",
|
| 54 |
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"right_arm_2",
|
| 55 |
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"right_arm_3",
|
| 56 |
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"right_arm_4",
|
| 57 |
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"right_arm_5",
|
| 58 |
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"right_gripper"
|
| 59 |
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|
| 60 |
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|
| 61 |
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"observation.endpose": {
|
| 62 |
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"dtype": "float32",
|
| 63 |
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"shape": [
|
| 64 |
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|
| 65 |
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],
|
| 66 |
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"names": [
|
| 67 |
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"left_endpose_0",
|
| 68 |
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"left_endpose_1",
|
| 69 |
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"left_endpose_2",
|
| 70 |
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"left_endpose_3",
|
| 71 |
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"left_endpose_4",
|
| 72 |
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"left_endpose_5",
|
| 73 |
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"left_endpose_6",
|
| 74 |
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"left_gripper",
|
| 75 |
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"right_endpose_0",
|
| 76 |
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"right_endpose_1",
|
| 77 |
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"right_endpose_2",
|
| 78 |
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"right_endpose_3",
|
| 79 |
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"right_endpose_4",
|
| 80 |
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"right_endpose_5",
|
| 81 |
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"right_endpose_6",
|
| 82 |
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"right_gripper"
|
| 83 |
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]
|
| 84 |
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|
| 85 |
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"observation.images.head_camera": {
|
| 86 |
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"dtype": "video",
|
| 87 |
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"shape": [
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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"channels",
|
| 94 |
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"height",
|
| 95 |
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"width"
|
| 96 |
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|
| 97 |
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|
| 98 |
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"video.height": 240,
|
| 99 |
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"video.width": 320,
|
| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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"channels",
|
| 117 |
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"height",
|
| 118 |
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"width"
|
| 119 |
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],
|
| 120 |
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|
| 121 |
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"video.height": 240,
|
| 122 |
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|
| 123 |
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| 124 |
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| 125 |
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| 126 |
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|
| 127 |
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"video.channels": 3,
|
| 128 |
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|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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|
| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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],
|
| 138 |
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|
| 139 |
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"channels",
|
| 140 |
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"height",
|
| 141 |
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"width"
|
| 142 |
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],
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 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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|
| 159 |
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320
|
| 160 |
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],
|
| 161 |
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|
| 162 |
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"channels",
|
| 163 |
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"height",
|
| 164 |
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"width"
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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"dtype": "bool",
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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],
|
| 189 |
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|
| 190 |
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},
|
| 191 |
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"timestamp": {
|
| 192 |
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"dtype": "float32",
|
| 193 |
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|
| 194 |
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|
| 195 |
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],
|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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],
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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"index": {
|
| 213 |
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"dtype": "int64",
|
| 214 |
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|
| 215 |
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|
| 216 |
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],
|
| 217 |
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|
| 218 |
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},
|
| 219 |
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"task_index": {
|
| 220 |
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"dtype": "int64",
|
| 221 |
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"shape": [
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| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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}
|
| 226 |
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}
|
| 227 |
+
}
|
place_bread_skillet/random/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
place_bread_skillet/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-1.1049304008483887, 0.0, 0.0, -1.8089873790740967, -1.8068839311599731, -4.061532020568848, 0.0, -0.5415458083152771, 0.0, 0.0, -1.8976415395736694, -0.6400318145751953, -2.2737739086151123, 0.0], "max": [0.15027594566345215, 3.20969820022583, 3.37280011177063, 1.1319386959075928, 0.6199206113815308, 1.2225773334503174, 1.0, 1.1895520687103271, 3.9396371841430664, 4.113208770751953, 1.6408599615097046, 1.9140400886535645, 1.9582780599594116, 1.0], "mean": [-0.29527114104245367, 1.789698141943566, 1.1812760616856315, -0.8479751726617589, -0.0027749386560779526, 0.08749358915336992, 0.36172910546697323, 0.33125194047934303, 1.8215197715698754, 1.2351883832783521, -0.8743013326591067, 0.005309185747938682, -0.04863033906568949, 0.3624916232527959], "std": [0.19136348991789126, 0.4946415775448681, 0.48002017404816527, 0.2891499414733021, 0.08698180574350983, 0.638559467615646, 0.45125513766737585, 0.19965945818702518, 0.5054070197721646, 0.5191909965378781, 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|
place_dual_shoes/clean/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 50,
|
| 5 |
+
"total_frames": 14296,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 20,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:50"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"data_files_size_in_mb": 100,
|
| 15 |
+
"video_files_size_in_mb": 200,
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
14
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_0",
|
| 24 |
+
"left_arm_1",
|
| 25 |
+
"left_arm_2",
|
| 26 |
+
"left_arm_3",
|
| 27 |
+
"left_arm_4",
|
| 28 |
+
"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
+
"right_arm_5",
|
| 36 |
+
"right_gripper"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"action": {
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"shape": [
|
| 42 |
+
14
|
| 43 |
+
],
|
| 44 |
+
"names": [
|
| 45 |
+
"left_arm_0",
|
| 46 |
+
"left_arm_1",
|
| 47 |
+
"left_arm_2",
|
| 48 |
+
"left_arm_3",
|
| 49 |
+
"left_arm_4",
|
| 50 |
+
"left_arm_5",
|
| 51 |
+
"left_gripper",
|
| 52 |
+
"right_arm_0",
|
| 53 |
+
"right_arm_1",
|
| 54 |
+
"right_arm_2",
|
| 55 |
+
"right_arm_3",
|
| 56 |
+
"right_arm_4",
|
| 57 |
+
"right_arm_5",
|
| 58 |
+
"right_gripper"
|
| 59 |
+
]
|
| 60 |
+
},
|
| 61 |
+
"observation.endpose": {
|
| 62 |
+
"dtype": "float32",
|
| 63 |
+
"shape": [
|
| 64 |
+
16
|
| 65 |
+
],
|
| 66 |
+
"names": [
|
| 67 |
+
"left_endpose_0",
|
| 68 |
+
"left_endpose_1",
|
| 69 |
+
"left_endpose_2",
|
| 70 |
+
"left_endpose_3",
|
| 71 |
+
"left_endpose_4",
|
| 72 |
+
"left_endpose_5",
|
| 73 |
+
"left_endpose_6",
|
| 74 |
+
"left_gripper",
|
| 75 |
+
"right_endpose_0",
|
| 76 |
+
"right_endpose_1",
|
| 77 |
+
"right_endpose_2",
|
| 78 |
+
"right_endpose_3",
|
| 79 |
+
"right_endpose_4",
|
| 80 |
+
"right_endpose_5",
|
| 81 |
+
"right_endpose_6",
|
| 82 |
+
"right_gripper"
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"observation.images.head_camera": {
|
| 86 |
+
"dtype": "video",
|
| 87 |
+
"shape": [
|
| 88 |
+
3,
|
| 89 |
+
240,
|
| 90 |
+
320
|
| 91 |
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],
|
| 92 |
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"names": [
|
| 93 |
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"channels",
|
| 94 |
+
"height",
|
| 95 |
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"width"
|
| 96 |
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],
|
| 97 |
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"info": {
|
| 98 |
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"video.height": 240,
|
| 99 |
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"video.width": 320,
|
| 100 |
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"video.codec": "h264",
|
| 101 |
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"video.pix_fmt": "yuv420p",
|
| 102 |
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"video.is_depth_map": false,
|
| 103 |
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"video.fps": 20,
|
| 104 |
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"video.channels": 3,
|
| 105 |
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"has_audio": false
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
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"observation.images.front_camera": {
|
| 109 |
+
"dtype": "video",
|
| 110 |
+
"shape": [
|
| 111 |
+
3,
|
| 112 |
+
240,
|
| 113 |
+
320
|
| 114 |
+
],
|
| 115 |
+
"names": [
|
| 116 |
+
"channels",
|
| 117 |
+
"height",
|
| 118 |
+
"width"
|
| 119 |
+
],
|
| 120 |
+
"info": {
|
| 121 |
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"video.height": 240,
|
| 122 |
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"video.width": 320,
|
| 123 |
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"video.codec": "h264",
|
| 124 |
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"video.pix_fmt": "yuv420p",
|
| 125 |
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"video.is_depth_map": false,
|
| 126 |
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"video.fps": 20,
|
| 127 |
+
"video.channels": 3,
|
| 128 |
+
"has_audio": false
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"observation.images.left_camera": {
|
| 132 |
+
"dtype": "video",
|
| 133 |
+
"shape": [
|
| 134 |
+
3,
|
| 135 |
+
240,
|
| 136 |
+
320
|
| 137 |
+
],
|
| 138 |
+
"names": [
|
| 139 |
+
"channels",
|
| 140 |
+
"height",
|
| 141 |
+
"width"
|
| 142 |
+
],
|
| 143 |
+
"info": {
|
| 144 |
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"video.height": 240,
|
| 145 |
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"video.width": 320,
|
| 146 |
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"video.codec": "h264",
|
| 147 |
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"video.pix_fmt": "yuv420p",
|
| 148 |
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"video.is_depth_map": false,
|
| 149 |
+
"video.fps": 20,
|
| 150 |
+
"video.channels": 3,
|
| 151 |
+
"has_audio": false
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"observation.images.right_camera": {
|
| 155 |
+
"dtype": "video",
|
| 156 |
+
"shape": [
|
| 157 |
+
3,
|
| 158 |
+
240,
|
| 159 |
+
320
|
| 160 |
+
],
|
| 161 |
+
"names": [
|
| 162 |
+
"channels",
|
| 163 |
+
"height",
|
| 164 |
+
"width"
|
| 165 |
+
],
|
| 166 |
+
"info": {
|
| 167 |
+
"video.height": 240,
|
| 168 |
+
"video.width": 320,
|
| 169 |
+
"video.codec": "h264",
|
| 170 |
+
"video.pix_fmt": "yuv420p",
|
| 171 |
+
"video.is_depth_map": false,
|
| 172 |
+
"video.fps": 20,
|
| 173 |
+
"video.channels": 3,
|
| 174 |
+
"has_audio": false
|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
"annotation.is_error_frame": {
|
| 178 |
+
"dtype": "bool",
|
| 179 |
+
"shape": [
|
| 180 |
+
1
|
| 181 |
+
],
|
| 182 |
+
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|
| 183 |
+
},
|
| 184 |
+
"annotation.phase": {
|
| 185 |
+
"dtype": "int64",
|
| 186 |
+
"shape": [
|
| 187 |
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1
|
| 188 |
+
],
|
| 189 |
+
"names": null
|
| 190 |
+
},
|
| 191 |
+
"timestamp": {
|
| 192 |
+
"dtype": "float32",
|
| 193 |
+
"shape": [
|
| 194 |
+
1
|
| 195 |
+
],
|
| 196 |
+
"names": null
|
| 197 |
+
},
|
| 198 |
+
"frame_index": {
|
| 199 |
+
"dtype": "int64",
|
| 200 |
+
"shape": [
|
| 201 |
+
1
|
| 202 |
+
],
|
| 203 |
+
"names": null
|
| 204 |
+
},
|
| 205 |
+
"episode_index": {
|
| 206 |
+
"dtype": "int64",
|
| 207 |
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"shape": [
|
| 208 |
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1
|
| 209 |
+
],
|
| 210 |
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"names": null
|
| 211 |
+
},
|
| 212 |
+
"index": {
|
| 213 |
+
"dtype": "int64",
|
| 214 |
+
"shape": [
|
| 215 |
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1
|
| 216 |
+
],
|
| 217 |
+
"names": null
|
| 218 |
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},
|
| 219 |
+
"task_index": {
|
| 220 |
+
"dtype": "int64",
|
| 221 |
+
"shape": [
|
| 222 |
+
1
|
| 223 |
+
],
|
| 224 |
+
"names": null
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
place_dual_shoes/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
place_dual_shoes/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-1.0707813501358032, -5.226483153819572e-06, -2.7943662644247524e-05, -1.776504635810852, -0.2503833770751953, -2.648042678833008, 0.0, -0.2547299861907959, 0.0, 0.0, -1.6119415760040283, -0.11867517977952957, -3.981957197189331, 0.0], "max": [0.09227276593446732, 2.7585339546203613, 2.7587013244628906, 0.0025171407032757998, 0.24078215658664703, 3.7898988723754883, 1.0, 0.8653534054756165, 2.5984458923339844, 2.355945348739624, 0.0, 0.3271419405937195, 2.469996690750122, 1.0], "mean": [-0.26108765099111336, 1.7516752398416777, 1.1905608208526108, -0.6812167818609781, 0.0015287658263149965, 0.07272401929420703, 0.6446701892047456, 0.17089979693730412, 2.0763464727844907, 1.4554866344218498, -0.864750590367228, 0.0007342112026677443, -0.12120858131354105, 0.23078423733564374], "std": [0.3105178376546215, 0.8707562534209667, 0.6405505457801338, 0.38747256448982453, 0.047562498922414306, 1.09461642421297, 0.44052332133797467, 0.2550968841611591, 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|
place_dual_shoes/random/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"train": "0:500"
|
| 11 |
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},
|
| 12 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
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"data_files_size_in_mb": 100,
|
| 15 |
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"video_files_size_in_mb": 200,
|
| 16 |
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"features": {
|
| 17 |
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"observation.state": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
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14
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"left_arm_0",
|
| 24 |
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"left_arm_1",
|
| 25 |
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"left_arm_2",
|
| 26 |
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"left_arm_3",
|
| 27 |
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"left_arm_4",
|
| 28 |
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"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
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"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
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"right_arm_4",
|
| 35 |
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"right_arm_5",
|
| 36 |
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"right_gripper"
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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"names": [
|
| 45 |
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"left_arm_0",
|
| 46 |
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"left_arm_1",
|
| 47 |
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"left_arm_2",
|
| 48 |
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"left_arm_3",
|
| 49 |
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"left_arm_4",
|
| 50 |
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"left_arm_5",
|
| 51 |
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"left_gripper",
|
| 52 |
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"right_arm_0",
|
| 53 |
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"right_arm_1",
|
| 54 |
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"right_arm_2",
|
| 55 |
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"right_arm_3",
|
| 56 |
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"right_arm_4",
|
| 57 |
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"right_arm_5",
|
| 58 |
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"right_gripper"
|
| 59 |
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]
|
| 60 |
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},
|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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| 67 |
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| 68 |
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|
| 69 |
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|
| 70 |
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"left_endpose_3",
|
| 71 |
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"left_endpose_4",
|
| 72 |
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"left_endpose_5",
|
| 73 |
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"left_endpose_6",
|
| 74 |
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"left_gripper",
|
| 75 |
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"right_endpose_0",
|
| 76 |
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|
| 77 |
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"right_endpose_2",
|
| 78 |
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"right_endpose_3",
|
| 79 |
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|
| 80 |
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|
| 81 |
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"right_endpose_6",
|
| 82 |
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"right_gripper"
|
| 83 |
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]
|
| 84 |
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|
| 85 |
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"observation.images.head_camera": {
|
| 86 |
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"dtype": "video",
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| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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| 93 |
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| 94 |
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| 96 |
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| 97 |
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|
| 99 |
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| 100 |
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|
| 105 |
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| 106 |
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|
| 107 |
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| 109 |
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| 110 |
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| 115 |
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| 116 |
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| 117 |
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|
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|
| 119 |
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| 120 |
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| 121 |
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| 128 |
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|
| 129 |
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|
| 130 |
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|
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|
| 132 |
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| 133 |
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| 135 |
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|
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|
| 137 |
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| 139 |
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| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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| 144 |
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|
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|
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| 147 |
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| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 155 |
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| 156 |
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|
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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| 163 |
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|
| 164 |
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|
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| 166 |
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| 167 |
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|
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|
| 169 |
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| 170 |
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| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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| 180 |
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|
| 181 |
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| 182 |
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|
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| 184 |
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|
| 185 |
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|
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|
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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],
|
| 224 |
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|
| 225 |
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}
|
| 226 |
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}
|
| 227 |
+
}
|
place_dual_shoes/random/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
place_dual_shoes/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
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|
place_empty_cup/clean/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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| 1 |
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| 178 |
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"dtype": "bool",
|
| 179 |
+
"shape": [
|
| 180 |
+
1
|
| 181 |
+
],
|
| 182 |
+
"names": null
|
| 183 |
+
},
|
| 184 |
+
"annotation.phase": {
|
| 185 |
+
"dtype": "int64",
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"names": null
|
| 190 |
+
},
|
| 191 |
+
"timestamp": {
|
| 192 |
+
"dtype": "float32",
|
| 193 |
+
"shape": [
|
| 194 |
+
1
|
| 195 |
+
],
|
| 196 |
+
"names": null
|
| 197 |
+
},
|
| 198 |
+
"frame_index": {
|
| 199 |
+
"dtype": "int64",
|
| 200 |
+
"shape": [
|
| 201 |
+
1
|
| 202 |
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],
|
| 203 |
+
"names": null
|
| 204 |
+
},
|
| 205 |
+
"episode_index": {
|
| 206 |
+
"dtype": "int64",
|
| 207 |
+
"shape": [
|
| 208 |
+
1
|
| 209 |
+
],
|
| 210 |
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"names": null
|
| 211 |
+
},
|
| 212 |
+
"index": {
|
| 213 |
+
"dtype": "int64",
|
| 214 |
+
"shape": [
|
| 215 |
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1
|
| 216 |
+
],
|
| 217 |
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"names": null
|
| 218 |
+
},
|
| 219 |
+
"task_index": {
|
| 220 |
+
"dtype": "int64",
|
| 221 |
+
"shape": [
|
| 222 |
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1
|
| 223 |
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],
|
| 224 |
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"names": null
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
place_empty_cup/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
place_empty_cup/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
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|
place_empty_cup/random/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
|
|
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|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 500,
|
| 5 |
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"total_frames": 125270,
|
| 6 |
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|
| 7 |
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|
| 8 |
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"fps": 20,
|
| 9 |
+
"splits": {
|
| 10 |
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"train": "0:500"
|
| 11 |
+
},
|
| 12 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
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"data_files_size_in_mb": 100,
|
| 15 |
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"video_files_size_in_mb": 200,
|
| 16 |
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"features": {
|
| 17 |
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"observation.state": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
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14
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"left_arm_0",
|
| 24 |
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"left_arm_1",
|
| 25 |
+
"left_arm_2",
|
| 26 |
+
"left_arm_3",
|
| 27 |
+
"left_arm_4",
|
| 28 |
+
"left_arm_5",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_arm_0",
|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
+
"right_arm_3",
|
| 34 |
+
"right_arm_4",
|
| 35 |
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"right_arm_5",
|
| 36 |
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"right_gripper"
|
| 37 |
+
]
|
| 38 |
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},
|
| 39 |
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"action": {
|
| 40 |
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"dtype": "float32",
|
| 41 |
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"shape": [
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| 42 |
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14
|
| 43 |
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],
|
| 44 |
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"names": [
|
| 45 |
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"left_arm_0",
|
| 46 |
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"left_arm_1",
|
| 47 |
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"left_arm_2",
|
| 48 |
+
"left_arm_3",
|
| 49 |
+
"left_arm_4",
|
| 50 |
+
"left_arm_5",
|
| 51 |
+
"left_gripper",
|
| 52 |
+
"right_arm_0",
|
| 53 |
+
"right_arm_1",
|
| 54 |
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"right_arm_2",
|
| 55 |
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"right_arm_3",
|
| 56 |
+
"right_arm_4",
|
| 57 |
+
"right_arm_5",
|
| 58 |
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"right_gripper"
|
| 59 |
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]
|
| 60 |
+
},
|
| 61 |
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"observation.endpose": {
|
| 62 |
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"dtype": "float32",
|
| 63 |
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"shape": [
|
| 64 |
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|
| 65 |
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],
|
| 66 |
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"names": [
|
| 67 |
+
"left_endpose_0",
|
| 68 |
+
"left_endpose_1",
|
| 69 |
+
"left_endpose_2",
|
| 70 |
+
"left_endpose_3",
|
| 71 |
+
"left_endpose_4",
|
| 72 |
+
"left_endpose_5",
|
| 73 |
+
"left_endpose_6",
|
| 74 |
+
"left_gripper",
|
| 75 |
+
"right_endpose_0",
|
| 76 |
+
"right_endpose_1",
|
| 77 |
+
"right_endpose_2",
|
| 78 |
+
"right_endpose_3",
|
| 79 |
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"right_endpose_4",
|
| 80 |
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"right_endpose_5",
|
| 81 |
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"right_endpose_6",
|
| 82 |
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"right_gripper"
|
| 83 |
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]
|
| 84 |
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},
|
| 85 |
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"observation.images.head_camera": {
|
| 86 |
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"dtype": "video",
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
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|
| 107 |
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|
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|
| 109 |
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|
| 110 |
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| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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"names": [
|
| 116 |
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"channels",
|
| 117 |
+
"height",
|
| 118 |
+
"width"
|
| 119 |
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|
| 120 |
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|
| 121 |
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"video.height": 240,
|
| 122 |
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|
| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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},
|
| 131 |
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|
| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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|
| 136 |
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320
|
| 137 |
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|
| 138 |
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|
| 139 |
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"channels",
|
| 140 |
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"height",
|
| 141 |
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"width"
|
| 142 |
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|
| 143 |
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|
| 144 |
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"video.height": 240,
|
| 145 |
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"video.width": 320,
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 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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|
| 159 |
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320
|
| 160 |
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| 161 |
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| 162 |
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| 163 |
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"height",
|
| 164 |
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|
| 165 |
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|
| 166 |
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| 167 |
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"video.height": 240,
|
| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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| 175 |
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|
| 176 |
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| 177 |
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|
| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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|
| 185 |
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| 186 |
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|
| 187 |
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| 188 |
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],
|
| 189 |
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|
| 190 |
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},
|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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| 200 |
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| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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| 208 |
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| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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| 213 |
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| 214 |
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| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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| 221 |
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| 222 |
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| 223 |
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| 224 |
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|
| 225 |
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|
| 226 |
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}
|
| 227 |
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|
place_empty_cup/random/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"0": "normal",
|
| 3 |
+
"1": "recovery",
|
| 4 |
+
"2": "recovery_perceive",
|
| 5 |
+
"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
place_empty_cup/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
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