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- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
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- videos/chunk-000/observation.image.hand/episode_000000.mp4 +3 -0
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{"episode_index": 0, "tasks": ["Pick up the bag on the floor"], "length": 246}
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{"episode_index": 1, "tasks": ["Pick up the bag on the floor"], "length": 348}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Pick up the bag on the floor"], "length": 632}
|
| 4 |
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{"episode_index": 3, "tasks": ["Pick up the bag on the floor"], "length": 340}
|
| 5 |
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{"episode_index": 4, "tasks": ["Pick up the bag on the floor"], "length": 328}
|
| 6 |
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{"episode_index": 5, "tasks": ["Pick up the bag on the floor"], "length": 260}
|
| 7 |
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{"episode_index": 6, "tasks": ["Pick up the bag on the floor"], "length": 212}
|
| 8 |
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{"episode_index": 7, "tasks": ["Pick up the bag on the floor"], "length": 317}
|
| 9 |
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{"episode_index": 8, "tasks": ["Pick up the bag on the floor"], "length": 272}
|
| 10 |
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{"episode_index": 9, "tasks": ["Pick up the bag on the floor"], "length": 228}
|
| 11 |
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{"episode_index": 10, "tasks": ["Pick up the bag on the floor"], "length": 330}
|
| 12 |
+
{"episode_index": 11, "tasks": ["Pick up the bag on the floor"], "length": 311}
|
| 13 |
+
{"episode_index": 12, "tasks": ["Pick up the bag on the floor"], "length": 312}
|
| 14 |
+
{"episode_index": 13, "tasks": ["Pick up the bag on the floor"], "length": 213}
|
| 15 |
+
{"episode_index": 14, "tasks": ["Pick up the bag on the floor"], "length": 255}
|
| 16 |
+
{"episode_index": 15, "tasks": ["Pick up the bag on the floor"], "length": 374}
|
| 17 |
+
{"episode_index": 16, "tasks": ["Pick up the bag on the floor"], "length": 257}
|
| 18 |
+
{"episode_index": 17, "tasks": ["Pick up the bag on the floor"], "length": 305}
|
| 19 |
+
{"episode_index": 18, "tasks": ["Pick up the bag on the floor"], "length": 357}
|
| 20 |
+
{"episode_index": 19, "tasks": ["Pick up the bag on the floor"], "length": 269}
|
| 21 |
+
{"episode_index": 20, "tasks": ["Pick up the bag on the floor"], "length": 338}
|
| 22 |
+
{"episode_index": 21, "tasks": ["Pick up the bag on the floor"], "length": 303}
|
| 23 |
+
{"episode_index": 22, "tasks": ["Pick up the bag on the floor"], "length": 373}
|
| 24 |
+
{"episode_index": 23, "tasks": ["Pick up the bag on the floor"], "length": 437}
|
| 25 |
+
{"episode_index": 24, "tasks": ["Pick up the bag on the floor"], "length": 368}
|
| 26 |
+
{"episode_index": 25, "tasks": ["Pick up the bag on the floor"], "length": 207}
|
| 27 |
+
{"episode_index": 26, "tasks": ["Pick up the bag on the floor"], "length": 271}
|
| 28 |
+
{"episode_index": 27, "tasks": ["Pick up the bag on the floor"], "length": 295}
|
| 29 |
+
{"episode_index": 28, "tasks": ["Pick up the bag on the floor"], "length": 319}
|
| 30 |
+
{"episode_index": 29, "tasks": ["Pick up the bag on the floor"], "length": 429}
|
| 31 |
+
{"episode_index": 30, "tasks": ["Pick up the bag on the floor"], "length": 315}
|
| 32 |
+
{"episode_index": 31, "tasks": ["Pick up the bag on the floor"], "length": 308}
|
| 33 |
+
{"episode_index": 32, "tasks": ["Pick up the bag on the floor"], "length": 253}
|
| 34 |
+
{"episode_index": 33, "tasks": ["Pick up the bag on the floor"], "length": 337}
|
| 35 |
+
{"episode_index": 34, "tasks": ["Pick up the bag on the floor"], "length": 338}
|
| 36 |
+
{"episode_index": 35, "tasks": ["Pick up the bag on the floor"], "length": 328}
|
| 37 |
+
{"episode_index": 36, "tasks": ["Pick up the bag on the floor"], "length": 350}
|
| 38 |
+
{"episode_index": 37, "tasks": ["Pick up the bag on the floor"], "length": 329}
|
meta/info.json
ADDED
|
@@ -0,0 +1,269 @@
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|
|
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|
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|
|
|
|
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|
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|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
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"robot_type": "hsr",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:38"
|
| 13 |
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},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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"observation.image.head": {
|
| 18 |
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"dtype": "video",
|
| 19 |
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|
| 20 |
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480,
|
| 21 |
+
640,
|
| 22 |
+
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|
| 23 |
+
],
|
| 24 |
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"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.fps": 10,
|
| 31 |
+
"video.codec": "av1",
|
| 32 |
+
"video.pix_fmt": "yuv420p",
|
| 33 |
+
"video.is_depth_map": "false",
|
| 34 |
+
"has_audio": "false"
|
| 35 |
+
}
|
| 36 |
+
},
|
| 37 |
+
"observation.image.hand": {
|
| 38 |
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"dtype": "video",
|
| 39 |
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"shape": [
|
| 40 |
+
480,
|
| 41 |
+
640,
|
| 42 |
+
3
|
| 43 |
+
],
|
| 44 |
+
"names": [
|
| 45 |
+
"height",
|
| 46 |
+
"width",
|
| 47 |
+
"channel"
|
| 48 |
+
],
|
| 49 |
+
"info": {
|
| 50 |
+
"video.fps": 10,
|
| 51 |
+
"video.codec": "av1",
|
| 52 |
+
"video.pix_fmt": "yuv420p",
|
| 53 |
+
"video.is_depth_map": "false",
|
| 54 |
+
"has_audio": "false"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"observation.state": {
|
| 58 |
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"dtype": "float32",
|
| 59 |
+
"shape": [
|
| 60 |
+
8
|
| 61 |
+
],
|
| 62 |
+
"names": [
|
| 63 |
+
"arm_lift_joint",
|
| 64 |
+
"arm_flex_joint",
|
| 65 |
+
"arm_roll_joint",
|
| 66 |
+
"wrist_flex_joint",
|
| 67 |
+
"wrist_roll_joint",
|
| 68 |
+
"hand_motor_joint",
|
| 69 |
+
"head_pan_joint",
|
| 70 |
+
"head_tilt_joint"
|
| 71 |
+
]
|
| 72 |
+
},
|
| 73 |
+
"observation.wrench.wrist": {
|
| 74 |
+
"dtype": "float32",
|
| 75 |
+
"shape": [
|
| 76 |
+
60
|
| 77 |
+
],
|
| 78 |
+
"names": [
|
| 79 |
+
"force_x_0",
|
| 80 |
+
"force_y_0",
|
| 81 |
+
"force_z_0",
|
| 82 |
+
"torque_x_0",
|
| 83 |
+
"torque_y_0",
|
| 84 |
+
"torque_z_0",
|
| 85 |
+
"force_x_1",
|
| 86 |
+
"force_y_1",
|
| 87 |
+
"force_z_1",
|
| 88 |
+
"torque_x_1",
|
| 89 |
+
"torque_y_1",
|
| 90 |
+
"torque_z_1",
|
| 91 |
+
"force_x_2",
|
| 92 |
+
"force_y_2",
|
| 93 |
+
"force_z_2",
|
| 94 |
+
"torque_x_2",
|
| 95 |
+
"torque_y_2",
|
| 96 |
+
"torque_z_2",
|
| 97 |
+
"force_x_3",
|
| 98 |
+
"force_y_3",
|
| 99 |
+
"force_z_3",
|
| 100 |
+
"torque_x_3",
|
| 101 |
+
"torque_y_3",
|
| 102 |
+
"torque_z_3",
|
| 103 |
+
"force_x_4",
|
| 104 |
+
"force_y_4",
|
| 105 |
+
"force_z_4",
|
| 106 |
+
"torque_x_4",
|
| 107 |
+
"torque_y_4",
|
| 108 |
+
"torque_z_4",
|
| 109 |
+
"force_x_5",
|
| 110 |
+
"force_y_5",
|
| 111 |
+
"force_z_5",
|
| 112 |
+
"torque_x_5",
|
| 113 |
+
"torque_y_5",
|
| 114 |
+
"torque_z_5",
|
| 115 |
+
"force_x_6",
|
| 116 |
+
"force_y_6",
|
| 117 |
+
"force_z_6",
|
| 118 |
+
"torque_x_6",
|
| 119 |
+
"torque_y_6",
|
| 120 |
+
"torque_z_6",
|
| 121 |
+
"force_x_7",
|
| 122 |
+
"force_y_7",
|
| 123 |
+
"force_z_7",
|
| 124 |
+
"torque_x_7",
|
| 125 |
+
"torque_y_7",
|
| 126 |
+
"torque_z_7",
|
| 127 |
+
"force_x_8",
|
| 128 |
+
"force_y_8",
|
| 129 |
+
"force_z_8",
|
| 130 |
+
"torque_x_8",
|
| 131 |
+
"torque_y_8",
|
| 132 |
+
"torque_z_8",
|
| 133 |
+
"force_x_9",
|
| 134 |
+
"force_y_9",
|
| 135 |
+
"force_z_9",
|
| 136 |
+
"torque_x_9",
|
| 137 |
+
"torque_y_9",
|
| 138 |
+
"torque_z_9"
|
| 139 |
+
],
|
| 140 |
+
"description": "Wrist wrench data (force and torque) with 100Hz history (10 samples per frame, flattened)"
|
| 141 |
+
},
|
| 142 |
+
"action.absolute": {
|
| 143 |
+
"dtype": "float32",
|
| 144 |
+
"shape": [
|
| 145 |
+
8
|
| 146 |
+
],
|
| 147 |
+
"names": [
|
| 148 |
+
"arm_lift_joint",
|
| 149 |
+
"arm_flex_joint",
|
| 150 |
+
"arm_roll_joint",
|
| 151 |
+
"wrist_flex_joint",
|
| 152 |
+
"wrist_roll_joint",
|
| 153 |
+
"hand_motor_joint",
|
| 154 |
+
"head_pan_joint",
|
| 155 |
+
"head_tilt_joint"
|
| 156 |
+
],
|
| 157 |
+
"description": "absolute action for all joints without hand_motor_joint(gripper)"
|
| 158 |
+
},
|
| 159 |
+
"action.relative": {
|
| 160 |
+
"dtype": "float32",
|
| 161 |
+
"shape": [
|
| 162 |
+
11
|
| 163 |
+
],
|
| 164 |
+
"names": [
|
| 165 |
+
"arm_lift_joint",
|
| 166 |
+
"arm_flex_joint",
|
| 167 |
+
"arm_roll_joint",
|
| 168 |
+
"wrist_flex_joint",
|
| 169 |
+
"wrist_roll_joint",
|
| 170 |
+
"hand_motor_joint",
|
| 171 |
+
"head_pan_joint",
|
| 172 |
+
"head_tilt_joint",
|
| 173 |
+
"base_x",
|
| 174 |
+
"base_y",
|
| 175 |
+
"base_t"
|
| 176 |
+
],
|
| 177 |
+
"description": "delta action for all joints and base without hand_motor_joint(gripper)"
|
| 178 |
+
},
|
| 179 |
+
"action.arm": {
|
| 180 |
+
"dtype": "float32",
|
| 181 |
+
"shape": [
|
| 182 |
+
5
|
| 183 |
+
],
|
| 184 |
+
"names": [
|
| 185 |
+
"arm_lift_joint",
|
| 186 |
+
"arm_flex_joint",
|
| 187 |
+
"arm_roll_joint",
|
| 188 |
+
"wrist_flex_joint",
|
| 189 |
+
"wrist_roll_joint"
|
| 190 |
+
],
|
| 191 |
+
"description": "absolute action for arm joints"
|
| 192 |
+
},
|
| 193 |
+
"action.gripper": {
|
| 194 |
+
"dtype": "float32",
|
| 195 |
+
"shape": [
|
| 196 |
+
1
|
| 197 |
+
],
|
| 198 |
+
"names": [
|
| 199 |
+
"hand_motor_joint"
|
| 200 |
+
],
|
| 201 |
+
"description": "absolute action for gripper"
|
| 202 |
+
},
|
| 203 |
+
"action.head": {
|
| 204 |
+
"dtype": "float32",
|
| 205 |
+
"shape": [
|
| 206 |
+
2
|
| 207 |
+
],
|
| 208 |
+
"names": [
|
| 209 |
+
"head_pan_joint",
|
| 210 |
+
"head_tilt_joint"
|
| 211 |
+
],
|
| 212 |
+
"description": "absolute action for head joints"
|
| 213 |
+
},
|
| 214 |
+
"action.base": {
|
| 215 |
+
"dtype": "float32",
|
| 216 |
+
"shape": [
|
| 217 |
+
3
|
| 218 |
+
],
|
| 219 |
+
"names": [
|
| 220 |
+
"base_x",
|
| 221 |
+
"base_y",
|
| 222 |
+
"base_t"
|
| 223 |
+
],
|
| 224 |
+
"description": "delta action for base"
|
| 225 |
+
},
|
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meta/stats.json
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@@ -0,0 +1,698 @@
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