Add unzipped eval tasks from SIMPLE-org/data eval-fixed/ (part 6)

G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/info.json

@@ -0,0 +1,293 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 10,
+    "total_frames": 10,
+    "total_tasks": 1,
+    "total_videos": 10,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:10"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action.eef": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "teleop.navigate_command": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z",
+                "target_yaw"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": "base_height_command"
+        },
+        "observation.base_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "pos_x",
+                "pos_y",
+                "pos_z",
+                "quat_w",
+                "quat_x",
+                "quat_y",
+                "quat_z"
+            ]
+        },
+        "observation.base_vel": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "lin_vel_z",
+                "ang_vel_x",
+                "ang_vel_y",
+                "ang_vel_z"
+            ]
+        },
+        "observation.object_poses": {
+            "dtype": "float64",
+            "shape": [
+                28
+            ],
+            "names": [
+                "target.pos_x",
+                "target.pos_y",
+                "target.pos_z",
+                "target.quat_w",
+                "target.quat_x",
+                "target.quat_y",
+                "target.quat_z",
+                "distractor_0.pos_x",
+                "distractor_0.pos_y",
+                "distractor_0.pos_z",
+                "distractor_0.quat_w",
+                "distractor_0.quat_x",
+                "distractor_0.quat_y",
+                "distractor_0.quat_z",
+                "distractor_1.pos_x",
+                "distractor_1.pos_y",
+                "distractor_1.pos_z",
+                "distractor_1.quat_w",
+                "distractor_1.quat_x",
+                "distractor_1.quat_y",
+                "distractor_1.quat_z",
+                "distractor_2.pos_x",
+                "distractor_2.pos_y",
+                "distractor_2.pos_z",
+                "distractor_2.quat_w",
+                "distractor_2.quat_x",
+                "distractor_2.quat_y",
+                "distractor_2.quat_z"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "script_config": {},
+    "discarded_episode_indices": [],
+    "data_collection_info": {
+        "lower_body_policy": null,
+        "wbc_model_path": null,
+        "teleoperator_username": null,
+        "support_operator_username": null,
+        "robot_type": null,
+        "robot_id": null
+    }
+}

G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/modality.json

@@ -0,0 +1,147 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "base_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_pose"
+        },
+        "base_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.base_pose",
+            "rotation_type": "quaternion"
+        },
+        "base_lin_vel": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_vel"
+        },
+        "base_ang_vel": {
+            "start": 3,
+            "end": 6,
+            "original_key": "observation.base_vel"
+        }
+    },
+    "action": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
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+        "left_arm": {
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+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
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+        "right_arm": {
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+            "end": 36
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+        "right_hand": {
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+            "end": 43
+        },
+        "left_wrist_pos": {
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+            "end": 3,
+            "original_key": "action.eef"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "action.eef"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "base_height_command": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.base_height_command"
+        },
+        "navigate_command": {
+            "start": 0,
+            "end": 4,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/tasks.jsonl

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