Datasets:
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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/crisp_meta.json +125 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +296 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.primary/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.tactile/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:af08eb706e95d606d1feeadefb790a33407c0ac9c0887f0fa239a437e75b80c6
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size 130146
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meta/crisp_meta.json
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{
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"crisp_gym_version": "3.2.3",
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"crisp_py_version": "3.0.0",
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"control_type": "CARTESIAN",
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"env_config": {
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"robot_config": {
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"joint_names": [
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"fr3_joint1",
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"fr3_joint2",
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"fr3_joint3",
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"fr3_joint4",
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"fr3_joint5",
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"fr3_joint6",
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"fr3_joint7"
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],
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"home_config": [
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-0.017396011,
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0.0955319758,
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0.000809703053,
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-1.94272034,
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-0.00401435784,
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2.06584183,
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0.797426445
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],
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"base_frame": "base",
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"target_frame": "fr3_hand_tcp",
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"default_controller": "cartesian_impedance_controller",
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"cartesian_impedance_controller_name": "cartesian_impedance_controller",
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"joint_trajectory_controller_name": "joint_impedance_controller",
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"target_pose_topic": "target_pose",
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"target_joint_topic": "target_joint",
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"current_pose_topic": "current_pose",
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"current_joint_topic": "joint_states",
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"current_twist_topic": "current_twist",
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"publish_frequency": 50.0,
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"time_to_home": 2.0,
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"max_pose_delay": 1.0,
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"max_joint_delay": 1.0,
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"use_tf_pose": false,
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"tf_retrieve_rate": 50.0,
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"use_prefix": false
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},
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"gripper_config": {
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"min_value": 1046.0,
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"max_value": 2065.0,
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"command_topic": "/left/gripper/dynamixel_motor/command",
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"joint_state_topic": "/left/gripper/dynamixel_motor/joint_states",
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"reboot_service": "reboot_gripper",
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"enable_torque_service": "/left/gripper/dynamixel_motor/set_torque",
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"index": 0,
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"publish_frequency": 30.0,
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"max_joint_delay": 1.0,
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"max_delta": 0.1
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},
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"camera_config": [
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{
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"camera_color_image_topic": "left_third_person_camera/image_raw",
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"camera_color_info_topic": "left_third_person_camera/camera_info",
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"camera_name": "primary",
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"camera_frame": "primary_link",
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"max_image_delay": 1.0,
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"resolution": [
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256,
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256
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],
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"crop_width": null,
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"crop_height": null
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},
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{
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"camera_color_image_topic": "left_wrist_camera/color/image_rect_raw",
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"camera_color_info_topic": "left_wrist_camera/color/camera_info",
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"camera_name": "wrist",
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"camera_frame": "wrist_link",
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"max_image_delay": 1.0,
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"resolution": [
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256,
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256
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],
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"crop_width": null,
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"crop_height": null
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},
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{
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"camera_color_image_topic": "anyskin/image_raw",
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"camera_color_info_topic": "anyskin/camera_info",
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"camera_name": "tactile",
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"camera_frame": "tactile_link",
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"max_image_delay": 1.0,
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"resolution": [
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256,
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256
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],
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"crop_width": null,
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"crop_height": null
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}
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],
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"sensor_config": [
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{
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"shape": [
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15
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],
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"sensor_type": "float32_array",
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"name": "tactile_sensor",
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"data_topic": "/left/anyskin/tactile_data",
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| 104 |
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"max_data_delay": 1.0,
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"buffer_size": null,
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"reset_service": "/left/anyskin/reset"
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},
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{
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"shape": [
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6
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],
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"sensor_type": "force_torque",
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"name": "ft_sensor",
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"data_topic": "/left/external_wrench",
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"max_data_delay": 1.0,
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"buffer_size": null,
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| 117 |
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"reset_service": null
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}
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],
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"gripper_mode": "GripperMode.RELATIVE_CONTINUOUS",
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"gripper_threshold": 0.1,
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"cartesian_control_param_config": "None",
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| 123 |
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"joint_control_param_config": "None"
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}
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}
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["pick the lego block."], "length": 254}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"observation.images.primary": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3135070369944853]], [[0.5070219427370558]], [[0.4227575091193704]]], "std": [[[0.3421772762354167]], [[0.22428240429244312]], [[0.2900271566815251]]], "count": [100]}, "observation.images.tactile": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9882352941176471]]], "mean": [[[0.9166856755275352]], [[0.9152481426164216]], [[0.914120356541054]]], "std": [[[0.023891872537961285]], [[0.043884616257549997]], [[0.05180462982906006]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28539135203642]], [[0.4639453699448529]], [[0.3720924126120175]]], "std": [[[0.32662674676935566]], [[0.2173025800560436]], [[0.2557272053970254]]], "count": [100]}, "observation.state.cartesian": {"min": [0.5302960276603699, 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|
meta/info.json
ADDED
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@@ -0,0 +1,296 @@
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| 1 |
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{
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| 2 |
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| 3 |
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|
| 205 |
+
"roll",
|
| 206 |
+
"pitch",
|
| 207 |
+
"yaw",
|
| 208 |
+
"gripper",
|
| 209 |
+
"joint_0",
|
| 210 |
+
"joint_1",
|
| 211 |
+
"joint_2",
|
| 212 |
+
"joint_3",
|
| 213 |
+
"joint_4",
|
| 214 |
+
"joint_5",
|
| 215 |
+
"joint_6",
|
| 216 |
+
"sensors_ft_sensor_0",
|
| 217 |
+
"sensors_ft_sensor_1",
|
| 218 |
+
"sensors_ft_sensor_2",
|
| 219 |
+
"sensors_ft_sensor_3",
|
| 220 |
+
"sensors_ft_sensor_4",
|
| 221 |
+
"sensors_ft_sensor_5",
|
| 222 |
+
"sensors_tactile_sensor_0",
|
| 223 |
+
"sensors_tactile_sensor_1",
|
| 224 |
+
"sensors_tactile_sensor_2",
|
| 225 |
+
"sensors_tactile_sensor_3",
|
| 226 |
+
"sensors_tactile_sensor_4",
|
| 227 |
+
"sensors_tactile_sensor_5",
|
| 228 |
+
"sensors_tactile_sensor_6",
|
| 229 |
+
"sensors_tactile_sensor_7",
|
| 230 |
+
"sensors_tactile_sensor_8",
|
| 231 |
+
"sensors_tactile_sensor_9",
|
| 232 |
+
"sensors_tactile_sensor_10",
|
| 233 |
+
"sensors_tactile_sensor_11",
|
| 234 |
+
"sensors_tactile_sensor_12",
|
| 235 |
+
"sensors_tactile_sensor_13",
|
| 236 |
+
"sensors_tactile_sensor_14",
|
| 237 |
+
"target_x",
|
| 238 |
+
"target_y",
|
| 239 |
+
"target_z",
|
| 240 |
+
"target_roll",
|
| 241 |
+
"target_pitch",
|
| 242 |
+
"target_yaw"
|
| 243 |
+
]
|
| 244 |
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},
|
| 245 |
+
"action": {
|
| 246 |
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"dtype": "float32",
|
| 247 |
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"shape": [
|
| 248 |
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7
|
| 249 |
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],
|
| 250 |
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"names": [
|
| 251 |
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"x",
|
| 252 |
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"y",
|
| 253 |
+
"z",
|
| 254 |
+
"roll",
|
| 255 |
+
"pitch",
|
| 256 |
+
"yaw",
|
| 257 |
+
"gripper"
|
| 258 |
+
]
|
| 259 |
+
},
|
| 260 |
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"timestamp": {
|
| 261 |
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"dtype": "float32",
|
| 262 |
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"shape": [
|
| 263 |
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1
|
| 264 |
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],
|
| 265 |
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"names": null
|
| 266 |
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|
| 267 |
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|
| 268 |
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"dtype": "int64",
|
| 269 |
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|
| 270 |
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1
|
| 271 |
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],
|
| 272 |
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"names": null
|
| 273 |
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},
|
| 274 |
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"episode_index": {
|
| 275 |
+
"dtype": "int64",
|
| 276 |
+
"shape": [
|
| 277 |
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|
| 278 |
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],
|
| 279 |
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"names": null
|
| 280 |
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},
|
| 281 |
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"index": {
|
| 282 |
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"dtype": "int64",
|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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"names": null
|
| 294 |
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|
| 295 |
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|
| 296 |
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}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick the lego block."}
|
videos/chunk-000/observation.images.primary/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:1c6ccd5cb3dedb8650e3ef57f842e9f24a8cef4a64c30b2ae1bef8b37b8fecf8
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| 3 |
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size 2101967
|
videos/chunk-000/observation.images.tactile/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:e70e8b48dfa6d5e2a8f030998e223b084f8f4c13bacaafc5be439cbf40ea7274
|
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size 76023
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videos/chunk-000/observation.images.wrist/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:521a6d7309f9bd824330b82e9820908ae99f3978385b1c45841e583e15579051
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size 1113433
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