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- blocks_ranking_rgb/clean/meta/info.json +227 -0
- blocks_ranking_rgb/clean/meta/phase_codes.json +9 -0
- blocks_ranking_rgb/clean/meta/stats.json +1 -0
- blocks_ranking_rgb/random/meta/info.json +227 -0
- blocks_ranking_rgb/random/meta/phase_codes.json +9 -0
- blocks_ranking_rgb/random/meta/stats.json +1 -0
- blocks_ranking_size/clean/meta/info.json +227 -0
- blocks_ranking_size/clean/meta/phase_codes.json +9 -0
- blocks_ranking_size/clean/meta/stats.json +1 -0
- blocks_ranking_size/random/meta/info.json +227 -0
- blocks_ranking_size/random/meta/phase_codes.json +9 -0
- blocks_ranking_size/random/meta/stats.json +1 -0
- dump_bin_bigbin/clean/meta/info.json +227 -0
- dump_bin_bigbin/clean/meta/phase_codes.json +9 -0
- dump_bin_bigbin/clean/meta/stats.json +1 -0
- dump_bin_bigbin/random/meta/info.json +227 -0
- dump_bin_bigbin/random/meta/phase_codes.json +9 -0
- dump_bin_bigbin/random/meta/stats.json +1 -0
- grab_roller/clean/meta/info.json +227 -0
- grab_roller/clean/meta/phase_codes.json +9 -0
- grab_roller/clean/meta/stats.json +1 -0
- grab_roller/random/meta/episodes/chunk-000/file-000.parquet +3 -0
- grab_roller/random/meta/info.json +227 -0
- grab_roller/random/meta/phase_codes.json +9 -0
- grab_roller/random/meta/stats.json +1 -0
- grab_roller/random/meta/tasks.parquet +3 -0
- handover_block/clean/meta/info.json +227 -0
- handover_block/clean/meta/phase_codes.json +9 -0
- handover_block/clean/meta/stats.json +1 -0
- handover_block/random/meta/info.json +227 -0
- handover_block/random/meta/phase_codes.json +9 -0
- handover_block/random/meta/stats.json +1 -0
- place_a2b_left/clean/meta/info.json +227 -0
- place_a2b_left/clean/meta/phase_codes.json +9 -0
- place_a2b_left/clean/meta/stats.json +1 -0
- place_a2b_left/random/meta/info.json +227 -0
- place_a2b_left/random/meta/phase_codes.json +9 -0
- place_a2b_left/random/meta/stats.json +1 -0
- place_a2b_right/clean/meta/info.json +227 -0
- place_a2b_right/clean/meta/phase_codes.json +9 -0
- place_a2b_right/clean/meta/stats.json +1 -0
- place_cans_plasticbox/clean/meta/info.json +227 -0
- place_cans_plasticbox/clean/meta/phase_codes.json +9 -0
- place_cans_plasticbox/clean/meta/stats.json +1 -0
- place_cans_plasticbox/random/meta/info.json +227 -0
- place_cans_plasticbox/random/meta/phase_codes.json +9 -0
- place_cans_plasticbox/random/meta/stats.json +1 -0
- place_container_plate/clean/meta/info.json +227 -0
- place_container_plate/clean/meta/phase_codes.json +9 -0
- place_container_plate/clean/meta/stats.json +1 -0
blocks_ranking_rgb/clean/meta/info.json
ADDED
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| 1 |
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{
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| 2 |
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"codebase_version": "v3.0",
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"robot_type": "robotwin",
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"total_episodes": 50,
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},
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| 49 |
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| 220 |
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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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}
|
blocks_ranking_rgb/clean/meta/phase_codes.json
ADDED
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@@ -0,0 +1,9 @@
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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 |
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"3": "recovery_reposition",
|
| 6 |
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"4": "recovery_grasp_with_more_force",
|
| 7 |
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"5": "recovered",
|
| 8 |
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"6": "recovery_grasp"
|
| 9 |
+
}
|
blocks_ranking_rgb/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
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| 1 |
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|
blocks_ranking_rgb/random/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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|
| 1 |
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| 2 |
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| 3 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 59 |
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| 60 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 77 |
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| 176 |
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},
|
| 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 |
+
"names": null
|
| 218 |
+
},
|
| 219 |
+
"task_index": {
|
| 220 |
+
"dtype": "int64",
|
| 221 |
+
"shape": [
|
| 222 |
+
1
|
| 223 |
+
],
|
| 224 |
+
"names": null
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
blocks_ranking_rgb/random/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
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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 |
+
}
|
blocks_ranking_rgb/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-1.0639450550079346, -5.197962309466675e-05, -0.0735723078250885, -1.7971969842910767, -1.427436113357544, -1.058944821357727, 0.0, -0.022541828453540802, -4.26497426815331e-05, -4.1086859710048884e-05, -1.9501218795776367, -0.09289976209402084, -1.2678375244140625, 0.0], "max": [5.739044189453125, 2.8273563385009766, 3.053647756576538, 1.6519287824630737, 0.699188232421875, 6.494524955749512, 1.0, 1.0652590990066528, 3.3111002445220947, 3.7052359580993652, 6.579598266398534e-05, 0.1883181631565094, 2.5892271995544434, 1.0], "mean": [-0.23188965183508603, 1.0523365460007021, 0.7881401599135373, -0.49391205401657107, 0.00026492056476566997, 0.026241905344530178, 0.7806977052844197, 0.25552847963553227, 1.072610551096843, 0.8214095508557849, -0.5097725633398206, 0.004533980265258449, -0.004526656208432826, 0.7791658290598055], "std": [0.32730108235412797, 1.0652813557986867, 0.814127467368531, 0.5063508900634711, 0.027967612349039418, 0.462789368671459, 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|
blocks_ranking_size/clean/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
|
|
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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": 24265,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"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 |
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14
|
| 21 |
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],
|
| 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 |
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"dtype": "float32",
|
| 41 |
+
"shape": [
|
| 42 |
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14
|
| 43 |
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],
|
| 44 |
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"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 |
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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 |
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"right_gripper"
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"observation.images.head_camera": {
|
| 86 |
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"dtype": "video",
|
| 87 |
+
"shape": [
|
| 88 |
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3,
|
| 89 |
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240,
|
| 90 |
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320
|
| 91 |
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],
|
| 92 |
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"names": [
|
| 93 |
+
"channels",
|
| 94 |
+
"height",
|
| 95 |
+
"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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|
| 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 |
+
"video.channels": 3,
|
| 105 |
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"has_audio": false
|
| 106 |
+
}
|
| 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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| 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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| 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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"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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| 156 |
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|
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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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|
| 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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| 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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| 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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| 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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| 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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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
blocks_ranking_size/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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|
|
| 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 |
+
}
|
blocks_ranking_size/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
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|
blocks_ranking_size/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": 241701,
|
| 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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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 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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|
| 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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|
| 71 |
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|
| 72 |
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| 73 |
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|
| 74 |
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"left_gripper",
|
| 75 |
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|
| 76 |
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|
| 77 |
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"right_endpose_2",
|
| 78 |
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|
| 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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| 91 |
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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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| 212 |
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| 226 |
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| 227 |
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|
blocks_ranking_size/random/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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|
| 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 |
+
}
|
blocks_ranking_size/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
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|
dump_bin_bigbin/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": 12619,
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
+
"splits": {
|
| 10 |
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"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 |
+
"features": {
|
| 17 |
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"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"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 |
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"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 |
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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": [
|
| 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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"info": {
|
| 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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"observation.images.left_camera": {
|
| 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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| 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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"video.channels": 3,
|
| 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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|
| 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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"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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"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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|
| 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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|
| 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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|
| 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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| 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 |
+
}
|
dump_bin_bigbin/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 |
+
}
|
dump_bin_bigbin/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-1.4023926258087158, 0.0, 0.0, -1.8661532402038574, -0.9297275543212891, -1.6706984043121338, 0.0, 0.0, 0.0, -2.6948948288918473e-05, -1.7670048475265503, -0.29421529173851013, -0.8450850248336792, 0.0], "max": [0.4358236789703369, 2.7636001110076904, 2.723299980163574, 1.4277698993682861, 0.436598539352417, 0.9303469061851501, 1.0, 0.9468833208084106, 2.581540107727051, 2.5938713550567627, 0.0, 0.27697765827178955, 0.7652531862258911, 1.0], "mean": [-0.30898463418289507, 1.5017771462053653, 1.1250585837766787, -0.5417161779104974, 0.07278062700697611, -0.265302561010007, 0.4881619445762097, 0.05656699766502716, 0.20096385389102367, 0.17714831688250574, -0.13290485374933558, 0.0018977466702248952, -0.004878851822186398, 0.9540053066882133], "std": [0.43429736391535356, 0.6339720397609074, 0.5085098990724618, 0.9879645570994304, 0.19819967188179838, 0.5077250910127176, 0.46729259841190407, 0.17475860218038453, 0.5950855513210416, 0.53154108515456, 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|
dump_bin_bigbin/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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|
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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 |
+
"total_frames": 126215,
|
| 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 |
+
"observation.images.head_camera": {
|
| 86 |
+
"dtype": "video",
|
| 87 |
+
"shape": [
|
| 88 |
+
3,
|
| 89 |
+
240,
|
| 90 |
+
320
|
| 91 |
+
],
|
| 92 |
+
"names": [
|
| 93 |
+
"channels",
|
| 94 |
+
"height",
|
| 95 |
+
"width"
|
| 96 |
+
],
|
| 97 |
+
"info": {
|
| 98 |
+
"video.height": 240,
|
| 99 |
+
"video.width": 320,
|
| 100 |
+
"video.codec": "h264",
|
| 101 |
+
"video.pix_fmt": "yuv420p",
|
| 102 |
+
"video.is_depth_map": false,
|
| 103 |
+
"video.fps": 20,
|
| 104 |
+
"video.channels": 3,
|
| 105 |
+
"has_audio": false
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"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 |
+
"video.height": 240,
|
| 122 |
+
"video.width": 320,
|
| 123 |
+
"video.codec": "h264",
|
| 124 |
+
"video.pix_fmt": "yuv420p",
|
| 125 |
+
"video.is_depth_map": false,
|
| 126 |
+
"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 |
+
"video.height": 240,
|
| 145 |
+
"video.width": 320,
|
| 146 |
+
"video.codec": "h264",
|
| 147 |
+
"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 |
+
1
|
| 209 |
+
],
|
| 210 |
+
"names": null
|
| 211 |
+
},
|
| 212 |
+
"index": {
|
| 213 |
+
"dtype": "int64",
|
| 214 |
+
"shape": [
|
| 215 |
+
1
|
| 216 |
+
],
|
| 217 |
+
"names": null
|
| 218 |
+
},
|
| 219 |
+
"task_index": {
|
| 220 |
+
"dtype": "int64",
|
| 221 |
+
"shape": [
|
| 222 |
+
1
|
| 223 |
+
],
|
| 224 |
+
"names": null
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
dump_bin_bigbin/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 |
+
}
|
dump_bin_bigbin/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-1.5189772844314575, 0.0, 0.0, -1.9116331338882446, -1.0466519594192505, -2.3626937866210938, 0.0, 0.0, -7.845879736123607e-06, -3.214373282389715e-05, -2.126232862472534, -0.29434794187545776, -0.8368604183197021, 0.0], "max": [0.43673691153526306, 2.682770013809204, 3.0242300033569336, 1.4315546751022339, 1.0603586435317993, 0.8092187643051147, 1.0, 1.056717872619629, 3.1514811515808105, 3.6685287952423096, 3.0240684282034636e-05, 0.7982422709465027, 1.2398189306259155, 1.0], "mean": [-0.2939033235754756, 1.5205463232656993, 1.1198284321436756, -0.5027068520823207, 0.08321454248849978, -0.25641427575164655, 0.4921387431372149, 0.06511602362061245, 0.21799001607115287, 0.19183024207556587, -0.13862827613270365, 0.0028495727802879435, 0.005401489907464263, 0.9510616585885979], "std": [0.41358766591755786, 0.6511393942575999, 0.5156462054161411, 0.9598523239966159, 0.17905007145727903, 0.5353451813852833, 0.4674776206732867, 0.1944854404431315, 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|
grab_roller/clean/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 19 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 225 |
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|
| 226 |
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|
| 227 |
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|
grab_roller/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
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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 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
grab_roller/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-1.9265400171279907, 0.0, 0.0, -1.9015623331069946, -2.165971279144287, -3.1334643363952637, 0.0, 0.0, 0.0, 0.0, -1.3542726039886475, -0.23556438088417053, -2.8047637939453125, 0.0], "max": [0.0, 3.6503143310546875, 4.060359954833984, 1.7881431579589844, 2.264322519302368, 4.947796821594238, 1.0, 1.4765915870666504, 2.3819618225097656, 2.099381685256958, 0.0, 0.4426933228969574, 3.3809633255004883, 1.0], "mean": [-0.7233689370705187, 1.8771590185328149, 1.3737733806789951, -0.780224399894053, -0.048592018879083314, -1.0887627205435477, 0.6933925653527824, 0.6578413310395538, 1.7319292965937072, 1.1378832204872136, -0.8190073410029627, -0.0018022417344120978, 2.10402645455995, 0.3039822917506859], "std": [0.3380559912399357, 0.6399082556928484, 0.6569362094520191, 0.43874463444481854, 0.336212886715364, 1.301407870286395, 0.4119697227849175, 0.29322732477558033, 0.5547657326408538, 0.4781132427760882, 0.2906635657172137, 0.02761368205195397, 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|
grab_roller/random/meta/episodes/chunk-000/file-000.parquet
ADDED
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 45814
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grab_roller/random/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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|
| 1 |
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{
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| 2 |
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|
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
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| 34 |
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|
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|
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|
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|
| 49 |
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| 50 |
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|
| 51 |
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|
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|
| 54 |
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|
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|
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|
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|
| 59 |
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|
| 60 |
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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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| 179 |
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| 180 |
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| 182 |
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| 183 |
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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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|
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| 226 |
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|
grab_roller/random/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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"1": "recovery",
|
| 4 |
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"2": "recovery_perceive",
|
| 5 |
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"3": "recovery_reposition",
|
| 6 |
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"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
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|
grab_roller/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
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|
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grab_roller/random/meta/tasks.parquet
ADDED
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handover_block/clean/meta/info.json
ADDED
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@@ -0,0 +1,227 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 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 |
+
"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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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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|
| 21 |
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| 22 |
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| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
+
"left_gripper",
|
| 30 |
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|
| 31 |
+
"right_arm_1",
|
| 32 |
+
"right_arm_2",
|
| 33 |
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"right_arm_3",
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 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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| 42 |
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|
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| 44 |
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"names": [
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| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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"left_gripper",
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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"right_arm_5",
|
| 58 |
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|
| 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": [
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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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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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"left_gripper",
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 83 |
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|
| 84 |
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|
| 86 |
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| 93 |
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|
| 94 |
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| 95 |
+
"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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|
| 103 |
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"video.fps": 20,
|
| 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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"observation.images.front_camera": {
|
| 109 |
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"dtype": "video",
|
| 110 |
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"shape": [
|
| 111 |
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3,
|
| 112 |
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240,
|
| 113 |
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320
|
| 114 |
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|
| 115 |
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"names": [
|
| 116 |
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"channels",
|
| 117 |
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"height",
|
| 118 |
+
"width"
|
| 119 |
+
],
|
| 120 |
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"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 |
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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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|
| 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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"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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|
| 159 |
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|
| 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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"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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"video.channels": 3,
|
| 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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"names": null
|
| 190 |
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},
|
| 191 |
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"timestamp": {
|
| 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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"frame_index": {
|
| 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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"episode_index": {
|
| 206 |
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|
| 207 |
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"shape": [
|
| 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": [
|
| 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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|
| 222 |
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|
| 223 |
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|
| 224 |
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"names": null
|
| 225 |
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}
|
| 226 |
+
}
|
| 227 |
+
}
|
handover_block/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
}
|
handover_block/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-0.5452629923820496, -5.197962309466675e-05, -4.012112913187593e-05, -0.41003522276878357, -0.6211079359054565, -0.1417897492647171, 0.0, 0.0, 0.0, 0.0, 0.0, -0.25888413190841675, -0.040982503443956375, 0.0], "max": [0.42252102494239807, 2.8956639766693115, 2.9154601097106934, 1.220003366470337, 1.6389023065567017, 0.7688328623771667, 1.0, 0.8556238412857056, 2.7829599380493164, 1.6578633785247803, 1.3798660039901733, 0.5740731358528137, 0.020218247547745705, 1.0], "mean": [-0.144126069280636, 1.697076308207962, 1.1454126332258439, 0.5226995839466502, 0.7789419463220069, 0.03055680507380489, 0.551286692147557, 0.2315977929912996, 0.9128949182462848, 0.438987505984561, 0.47333209621728256, 0.09520372520340573, 0.0021945155316952947, 0.731836647842755], "std": [0.2172206947824065, 0.8150692017542176, 0.6058440237160069, 0.3024154608945317, 0.4326146800892493, 0.06618293632476836, 0.4648998611207874, 0.2944286136802811, 1.0810131364819846, 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|
handover_block/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": 166590,
|
| 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 |
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],
|
| 44 |
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"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 |
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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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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 |
+
"right_endpose_5",
|
| 81 |
+
"right_endpose_6",
|
| 82 |
+
"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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240,
|
| 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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"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 |
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"dtype": "video",
|
| 110 |
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"shape": [
|
| 111 |
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3,
|
| 112 |
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240,
|
| 113 |
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320
|
| 114 |
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],
|
| 115 |
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"names": [
|
| 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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"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 |
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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": [
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| 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 |
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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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},
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| 154 |
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|
| 155 |
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"dtype": "video",
|
| 156 |
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"shape": [
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| 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 |
+
"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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"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 |
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"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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|
| 183 |
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},
|
| 184 |
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"annotation.phase": {
|
| 185 |
+
"dtype": "int64",
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"names": null
|
| 190 |
+
},
|
| 191 |
+
"timestamp": {
|
| 192 |
+
"dtype": "float32",
|
| 193 |
+
"shape": [
|
| 194 |
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1
|
| 195 |
+
],
|
| 196 |
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"names": null
|
| 197 |
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},
|
| 198 |
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"frame_index": {
|
| 199 |
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"dtype": "int64",
|
| 200 |
+
"shape": [
|
| 201 |
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1
|
| 202 |
+
],
|
| 203 |
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|
| 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 |
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"dtype": "int64",
|
| 214 |
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"shape": [
|
| 215 |
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1
|
| 216 |
+
],
|
| 217 |
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"names": null
|
| 218 |
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},
|
| 219 |
+
"task_index": {
|
| 220 |
+
"dtype": "int64",
|
| 221 |
+
"shape": [
|
| 222 |
+
1
|
| 223 |
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],
|
| 224 |
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"names": null
|
| 225 |
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}
|
| 226 |
+
}
|
| 227 |
+
}
|
handover_block/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 |
+
}
|
handover_block/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-3.083646774291992, -0.6855809092521667, -0.01278378814458847, -1.7527521848678589, -1.5657864809036255, -1.6086901426315308, 0.0, -0.10924940556287766, 0.0, -0.0003619387571234256, 0.0, -1.6546066999435425, -0.08796799927949905, 0.0], "max": [6.5309295654296875, 3.762634038925171, 4.937379837036133, 1.7629034519195557, 1.7237437963485718, 3.377999782562256, 1.0, 0.9054564237594604, 3.2151079177856445, 2.530625104904175, 1.5482817888259888, 0.7156283259391785, 0.5156089663505554, 1.0], "mean": [-0.13751107668630125, 1.7081685757254994, 1.134438908102516, 0.5422387879726186, 0.7894257034674967, 0.04127309427576962, 0.5547650190675528, 0.23255855977024073, 0.909043778990493, 0.43859767632914126, 0.4699104918231657, 0.09965429447753672, 0.002824300085504295, 0.7343462314139608], "std": [0.2766115335782681, 0.8265857889463883, 0.6323748403823061, 0.3677422759102102, 0.44325739762787736, 0.16792548396651913, 0.4647688825998173, 0.2954876381332062, 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|
place_a2b_left/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 |
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"total_frames": 10689,
|
| 6 |
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|
| 7 |
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"chunks_size": 1000,
|
| 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 |
+
"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 |
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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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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 |
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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": [
|
| 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": [
|
| 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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"info": {
|
| 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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"dtype": "video",
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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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"observation.images.left_camera": {
|
| 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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|
| 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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| 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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"annotation.phase": {
|
| 185 |
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"dtype": "int64",
|
| 186 |
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|
| 187 |
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|
| 188 |
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],
|
| 189 |
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"names": null
|
| 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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"dtype": "int64",
|
| 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": {
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| 213 |
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"dtype": "int64",
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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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"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 |
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}
|
place_a2b_left/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_a2b_left/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-0.9056138396263123, 0.0, 0.0, -1.6431761980056763, -0.11208557337522507, -1.5773130655288696, 0.0, 0.0, 0.0, 0.0, -1.6487802267074585, -0.060515519231557846, -3.1699728965759277, 0.0], "max": [0.0, 2.586169481277466, 2.641425371170044, 0.0, 0.06462990492582321, 2.375588893890381, 1.0, 1.6888107061386108, 2.60526704788208, 2.6238820552825928, 0.0, 1.7675305604934692, 1.708013892173767, 1.0], "mean": [-0.3090877162155692, 1.201915741053971, 0.856943826482235, -0.6103277824544568, -0.0006398188191438665, 0.025150001403736, 0.6994250888056393, 0.2101941371852163, 0.673368310773185, 0.5096132589496176, -0.34673727968305124, 0.009563178607701311, -0.0416408229136406, 0.8379066255076829], "std": [0.28158209426727415, 0.9575785604537391, 0.7227947673395766, 0.49884494149690606, 0.007988307653637181, 0.641300409577845, 0.42273653696991365, 0.3201010842245319, 0.976587572195656, 0.766992063335591, 0.5131822824769071, 0.10735755966715421, 0.5903349336848754, 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|
place_a2b_left/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": 108009,
|
| 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 |
+
"observation.images.head_camera": {
|
| 86 |
+
"dtype": "video",
|
| 87 |
+
"shape": [
|
| 88 |
+
3,
|
| 89 |
+
240,
|
| 90 |
+
320
|
| 91 |
+
],
|
| 92 |
+
"names": [
|
| 93 |
+
"channels",
|
| 94 |
+
"height",
|
| 95 |
+
"width"
|
| 96 |
+
],
|
| 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 |
+
"has_audio": false
|
| 106 |
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}
|
| 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 |
+
"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 |
+
"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 |
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"names": null
|
| 204 |
+
},
|
| 205 |
+
"episode_index": {
|
| 206 |
+
"dtype": "int64",
|
| 207 |
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"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 |
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"dtype": "int64",
|
| 214 |
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"shape": [
|
| 215 |
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1
|
| 216 |
+
],
|
| 217 |
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"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_a2b_left/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_a2b_left/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-6.248799800872803, 0.0, -0.007285715080797672, -1.895840048789978, -2.2226500511169434, -7.24058723449707, 0.0, -7.074866771697998, 0.0, 0.0, -1.9430575370788574, -1.3903127908706665, -5.47174072265625, 0.0], "max": [7.021145820617676, 4.30078649520874, 5.344110012054443, 1.7650295495986938, 1.944128394126892, 3.571329116821289, 1.0, 1.0337822437286377, 3.305708885192871, 5.34910774230957, 1.8514008522033691, 0.5934798717498779, 3.1348628997802734, 1.0], "mean": [-0.21641574057251742, 1.0192641557551256, 0.7208134073181919, -0.47565148116496053, 0.011031502709020877, -0.07429535036200005, 0.758006979798714, 0.2590585163509959, 0.9220481507002336, 0.698809442606108, -0.44672313862593416, 0.0005832153259289215, 0.08884150629043584, 0.7880902164039741], "std": [0.5784083153020774, 1.0225099725340503, 0.7740589689333146, 0.5156225092125166, 0.14606629099813506, 0.67975623414507, 0.3974997356581579, 0.40396102638170894, 1.0564930938503643, 0.8383546644404688, 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|
place_a2b_right/clean/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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|
| 1 |
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| 226 |
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| 227 |
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|
place_a2b_right/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
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{
|
| 2 |
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| 3 |
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|
| 4 |
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|
| 5 |
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"3": "recovery_reposition",
|
| 6 |
+
"4": "recovery_grasp_with_more_force",
|
| 7 |
+
"5": "recovered",
|
| 8 |
+
"6": "recovery_grasp"
|
| 9 |
+
}
|
place_a2b_right/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
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|
place_cans_plasticbox/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": 18505,
|
| 6 |
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|
| 7 |
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|
| 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 |
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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 |
+
"right_gripper"
|
| 37 |
+
]
|
| 38 |
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},
|
| 39 |
+
"action": {
|
| 40 |
+
"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 |
+
"left_arm_0",
|
| 46 |
+
"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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|
| 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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|
| 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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|
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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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|
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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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"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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|
| 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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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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"video.is_depth_map": false,
|
| 149 |
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"video.fps": 20,
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
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|
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|
| 155 |
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|
| 156 |
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|
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|
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|
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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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|
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|
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|
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"video.channels": 3,
|
| 174 |
+
"has_audio": false
|
| 175 |
+
}
|
| 176 |
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},
|
| 177 |
+
"annotation.is_error_frame": {
|
| 178 |
+
"dtype": "bool",
|
| 179 |
+
"shape": [
|
| 180 |
+
1
|
| 181 |
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],
|
| 182 |
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|
| 183 |
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},
|
| 184 |
+
"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 |
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],
|
| 196 |
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"names": null
|
| 197 |
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},
|
| 198 |
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"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 |
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],
|
| 210 |
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"names": null
|
| 211 |
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},
|
| 212 |
+
"index": {
|
| 213 |
+
"dtype": "int64",
|
| 214 |
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"shape": [
|
| 215 |
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1
|
| 216 |
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],
|
| 217 |
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"names": null
|
| 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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1
|
| 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_cans_plasticbox/clean/meta/phase_codes.json
ADDED
|
@@ -0,0 +1,9 @@
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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_cans_plasticbox/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
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|
place_cans_plasticbox/random/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
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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": 180427,
|
| 6 |
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"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 |
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"data_files_size_in_mb": 100,
|
| 15 |
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"video_files_size_in_mb": 200,
|
| 16 |
+
"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 |
+
"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": [
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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 |
+
"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 |
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"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 |
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"left_gripper",
|
| 75 |
+
"right_endpose_0",
|
| 76 |
+
"right_endpose_1",
|
| 77 |
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"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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"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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"channels",
|
| 94 |
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"height",
|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"info": {
|
| 98 |
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"video.height": 240,
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
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|
| 103 |
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"video.fps": 20,
|
| 104 |
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"video.channels": 3,
|
| 105 |
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"has_audio": false
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| 106 |
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|
| 107 |
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|
| 108 |
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"observation.images.front_camera": {
|
| 109 |
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"dtype": "video",
|
| 110 |
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"shape": [
|
| 111 |
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3,
|
| 112 |
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240,
|
| 113 |
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320
|
| 114 |
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|
| 115 |
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"names": [
|
| 116 |
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"channels",
|
| 117 |
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"height",
|
| 118 |
+
"width"
|
| 119 |
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],
|
| 120 |
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"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",
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| 124 |
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"video.pix_fmt": "yuv420p",
|
| 125 |
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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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|
| 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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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 |
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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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|
| 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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"dtype": "video",
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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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"info": {
|
| 167 |
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"video.height": 240,
|
| 168 |
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|
| 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 |
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"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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|
| 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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1
|
| 188 |
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],
|
| 189 |
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"names": null
|
| 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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1
|
| 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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|
| 201 |
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1
|
| 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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1
|
| 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": [
|
| 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 |
+
}
|
place_cans_plasticbox/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 |
+
}
|
place_cans_plasticbox/random/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"observation.state": {"min": [-7.080746173858643, -5.197962309466675e-05, -4.531026934273541e-05, -1.8892799615859985, -2.1427054405212402, -6.342161178588867, 0.0, -3.62892824341543e-05, -4.474485103855841e-05, -3.994360668002628e-05, -1.7802900075912476, -0.4874500036239624, -0.6353532671928406, 0.0], "max": [8.161659240722656, 3.0852200984954834, 5.537014961242676, 1.504334568977356, 1.4395651817321777, 3.1913864612579346, 1.0, 1.041582703590393, 2.484149932861328, 2.5697500705718994, 0.3981116712093353, 0.4435597062110901, 0.25069332122802734, 1.0], "mean": [-0.2900413696686011, 1.3046578843566263, 1.0213797539919813, -0.7771939262526586, -0.0024508221482205917, 0.2105582301814905, 0.6663845035061082, 0.3881272924254662, 1.762885698874363, 1.60645512684007, -1.2752534952708703, 0.00018033485924141707, -0.3440201796037253, 0.30614566955512157], "std": [0.42071770344223364, 0.8377674746567589, 0.7366952178885069, 0.5387170105718021, 0.10012322452535542, 0.39481928436176067, 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|
place_container_plate/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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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robotwin",
|
| 4 |
+
"total_episodes": 50,
|
| 5 |
+
"total_frames": 11141,
|
| 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 |
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"names": [
|
| 45 |
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"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 |
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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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16
|
| 65 |
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],
|
| 66 |
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"names": [
|
| 67 |
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"left_endpose_0",
|
| 68 |
+
"left_endpose_1",
|
| 69 |
+
"left_endpose_2",
|
| 70 |
+
"left_endpose_3",
|
| 71 |
+
"left_endpose_4",
|
| 72 |
+
"left_endpose_5",
|
| 73 |
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"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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|
| 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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320
|
| 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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|
| 96 |
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|
| 97 |
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|
| 98 |
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"video.height": 240,
|
| 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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|
| 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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|
| 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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|
| 140 |
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"height",
|
| 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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|
| 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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|
| 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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"video.channels": 3,
|
| 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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"timestamp": {
|
| 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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1
|
| 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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1
|
| 209 |
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],
|
| 210 |
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|
| 211 |
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},
|
| 212 |
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"index": {
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| 213 |
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"dtype": "int64",
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| 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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| 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_container_plate/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_container_plate/clean/meta/stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
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|