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{"episode_index": 22, "episode_data_index_from": 35721, "episode_data_index_to": 37177, "length": 1456, "task": "StoreKitchenware"}
|
| 24 |
+
{"episode_index": 23, "episode_data_index_from": 37177, "episode_data_index_to": 38754, "length": 1577, "task": "StoreKitchenware"}
|
| 25 |
+
{"episode_index": 24, "episode_data_index_from": 38754, "episode_data_index_to": 40266, "length": 1512, "task": "StoreKitchenware"}
|
| 26 |
+
{"episode_index": 25, "episode_data_index_from": 40266, "episode_data_index_to": 42011, "length": 1745, "task": "StoreKitchenware"}
|
| 27 |
+
{"episode_index": 26, "episode_data_index_from": 42011, "episode_data_index_to": 43843, "length": 1832, "task": "StoreKitchenware"}
|
| 28 |
+
{"episode_index": 27, "episode_data_index_from": 43843, "episode_data_index_to": 45429, "length": 1586, "task": "StoreKitchenware"}
|
| 29 |
+
{"episode_index": 28, "episode_data_index_from": 45429, "episode_data_index_to": 46829, "length": 1400, "task": "StoreKitchenware"}
|
| 30 |
+
{"episode_index": 29, "episode_data_index_from": 46829, "episode_data_index_to": 48613, "length": 1784, "task": "StoreKitchenware"}
|
| 31 |
+
{"episode_index": 30, "episode_data_index_from": 48613, "episode_data_index_to": 50212, "length": 1599, "task": "StoreKitchenware"}
|
| 32 |
+
{"episode_index": 31, "episode_data_index_from": 50212, "episode_data_index_to": 51916, "length": 1704, "task": "StoreKitchenware"}
|
| 33 |
+
{"episode_index": 32, "episode_data_index_from": 51916, "episode_data_index_to": 53511, "length": 1595, "task": "StoreKitchenware"}
|
meta/info.json
ADDED
|
@@ -0,0 +1,275 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "h1_humanoid",
|
| 4 |
+
"fps": 50,
|
| 5 |
+
"total_episodes": 33,
|
| 6 |
+
"total_frames": 53511,
|
| 7 |
+
"chunks_size": 33,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"data_path": "data/chunk-{episode_chunk:03d}/file-{episode_index:03d}.parquet",
|
| 10 |
+
"features": {
|
| 11 |
+
"observation.qpos": {
|
| 12 |
+
"dtype": "float32",
|
| 13 |
+
"shape": [
|
| 14 |
+
30
|
| 15 |
+
],
|
| 16 |
+
"description": "Full joint positions (29 dims)",
|
| 17 |
+
"names": [
|
| 18 |
+
"left_hip_yaw",
|
| 19 |
+
"left_hip_roll",
|
| 20 |
+
"left_hip_pitch",
|
| 21 |
+
"left_knee",
|
| 22 |
+
"left_ankle",
|
| 23 |
+
"right_hip_yaw",
|
| 24 |
+
"right_hip_roll",
|
| 25 |
+
"right_hip_pitch",
|
| 26 |
+
"right_knee",
|
| 27 |
+
"right_ankle",
|
| 28 |
+
"torso",
|
| 29 |
+
"left_shoulder_pitch",
|
| 30 |
+
"left_shoulder_roll",
|
| 31 |
+
"left_shoulder_yaw",
|
| 32 |
+
"left_elbow",
|
| 33 |
+
"left_wrist",
|
| 34 |
+
"right_shoulder_pitch",
|
| 35 |
+
"right_shoulder_roll",
|
| 36 |
+
"right_shoulder_yaw",
|
| 37 |
+
"right_elbow",
|
| 38 |
+
"right_wrist",
|
| 39 |
+
"joint_22",
|
| 40 |
+
"joint_23",
|
| 41 |
+
"joint_24",
|
| 42 |
+
"joint_25",
|
| 43 |
+
"joint_26",
|
| 44 |
+
"joint_27",
|
| 45 |
+
"joint_28"
|
| 46 |
+
]
|
| 47 |
+
},
|
| 48 |
+
"observation.qvel": {
|
| 49 |
+
"dtype": "float32",
|
| 50 |
+
"shape": [
|
| 51 |
+
30
|
| 52 |
+
],
|
| 53 |
+
"description": "Full joint velocities (29 dims)",
|
| 54 |
+
"names": [
|
| 55 |
+
"left_hip_yaw",
|
| 56 |
+
"left_hip_roll",
|
| 57 |
+
"left_hip_pitch",
|
| 58 |
+
"left_knee",
|
| 59 |
+
"left_ankle",
|
| 60 |
+
"right_hip_yaw",
|
| 61 |
+
"right_hip_roll",
|
| 62 |
+
"right_hip_pitch",
|
| 63 |
+
"right_knee",
|
| 64 |
+
"right_ankle",
|
| 65 |
+
"torso",
|
| 66 |
+
"left_shoulder_pitch",
|
| 67 |
+
"left_shoulder_roll",
|
| 68 |
+
"left_shoulder_yaw",
|
| 69 |
+
"left_elbow",
|
| 70 |
+
"left_wrist",
|
| 71 |
+
"right_shoulder_pitch",
|
| 72 |
+
"right_shoulder_roll",
|
| 73 |
+
"right_shoulder_yaw",
|
| 74 |
+
"right_elbow",
|
| 75 |
+
"right_wrist",
|
| 76 |
+
"joint_22",
|
| 77 |
+
"joint_23",
|
| 78 |
+
"joint_24",
|
| 79 |
+
"joint_25",
|
| 80 |
+
"joint_26",
|
| 81 |
+
"joint_27",
|
| 82 |
+
"joint_28"
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"observation.gripper": {
|
| 86 |
+
"dtype": "float32",
|
| 87 |
+
"shape": [
|
| 88 |
+
2
|
| 89 |
+
],
|
| 90 |
+
"description": "Gripper states (2 dims)",
|
| 91 |
+
"names": [
|
| 92 |
+
"left_gripper",
|
| 93 |
+
"right_gripper"
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"observation.floating_base": {
|
| 97 |
+
"dtype": "float32",
|
| 98 |
+
"shape": [
|
| 99 |
+
4
|
| 100 |
+
],
|
| 101 |
+
"description": "Floating base position (4 dims with 4-DOF)",
|
| 102 |
+
"names": [
|
| 103 |
+
"pelvis_x",
|
| 104 |
+
"pelvis_y",
|
| 105 |
+
"pelvis_z",
|
| 106 |
+
"pelvis_rz"
|
| 107 |
+
]
|
| 108 |
+
},
|
| 109 |
+
"observation.floating_base_actions": {
|
| 110 |
+
"dtype": "float32",
|
| 111 |
+
"shape": [
|
| 112 |
+
4
|
| 113 |
+
],
|
| 114 |
+
"description": "Accumulated floating base actions since reset (4 dims with 4-DOF)",
|
| 115 |
+
"names": [
|
| 116 |
+
"acc_pelvis_x",
|
| 117 |
+
"acc_pelvis_y",
|
| 118 |
+
"acc_pelvis_z",
|
| 119 |
+
"acc_pelvis_rz"
|
| 120 |
+
]
|
| 121 |
+
},
|
| 122 |
+
"observation.state": {
|
| 123 |
+
"dtype": "float32",
|
| 124 |
+
"shape": [
|
| 125 |
+
16
|
| 126 |
+
],
|
| 127 |
+
"description": "Policy state input (16 dims, matches action structure)",
|
| 128 |
+
"names": [
|
| 129 |
+
"floating_base_x",
|
| 130 |
+
"floating_base_y",
|
| 131 |
+
"floating_base_z",
|
| 132 |
+
"floating_base_rz",
|
| 133 |
+
"left_shoulder_pitch",
|
| 134 |
+
"left_shoulder_roll",
|
| 135 |
+
"left_shoulder_yaw",
|
| 136 |
+
"left_elbow",
|
| 137 |
+
"left_wrist",
|
| 138 |
+
"right_shoulder_pitch",
|
| 139 |
+
"right_shoulder_roll",
|
| 140 |
+
"right_shoulder_yaw",
|
| 141 |
+
"right_elbow",
|
| 142 |
+
"right_wrist",
|
| 143 |
+
"left_gripper",
|
| 144 |
+
"right_gripper"
|
| 145 |
+
],
|
| 146 |
+
"structure": "[floating_base(4), left_arm(5), right_arm(5), grippers(2)]"
|
| 147 |
+
},
|
| 148 |
+
"observation.state_arm": {
|
| 149 |
+
"dtype": "float32",
|
| 150 |
+
"shape": [
|
| 151 |
+
12
|
| 152 |
+
],
|
| 153 |
+
"description": "Arm-only state (12 dims, no floating base)",
|
| 154 |
+
"names": [
|
| 155 |
+
"left_shoulder_pitch",
|
| 156 |
+
"left_shoulder_roll",
|
| 157 |
+
"left_shoulder_yaw",
|
| 158 |
+
"left_elbow",
|
| 159 |
+
"left_wrist",
|
| 160 |
+
"right_shoulder_pitch",
|
| 161 |
+
"right_shoulder_roll",
|
| 162 |
+
"right_shoulder_yaw",
|
| 163 |
+
"right_elbow",
|
| 164 |
+
"right_wrist",
|
| 165 |
+
"left_gripper",
|
| 166 |
+
"right_gripper"
|
| 167 |
+
],
|
| 168 |
+
"structure": "[left_arm(5), right_arm(5), grippers(2)]"
|
| 169 |
+
},
|
| 170 |
+
"action": {
|
| 171 |
+
"dtype": "float32",
|
| 172 |
+
"shape": [
|
| 173 |
+
16
|
| 174 |
+
],
|
| 175 |
+
"description": "Full action (16 dims)",
|
| 176 |
+
"names": [
|
| 177 |
+
"floating_base_x",
|
| 178 |
+
"floating_base_y",
|
| 179 |
+
"floating_base_z",
|
| 180 |
+
"floating_base_rz",
|
| 181 |
+
"left_shoulder_pitch",
|
| 182 |
+
"left_shoulder_roll",
|
| 183 |
+
"left_shoulder_yaw",
|
| 184 |
+
"left_elbow",
|
| 185 |
+
"left_wrist",
|
| 186 |
+
"right_shoulder_pitch",
|
| 187 |
+
"right_shoulder_roll",
|
| 188 |
+
"right_shoulder_yaw",
|
| 189 |
+
"right_elbow",
|
| 190 |
+
"right_wrist",
|
| 191 |
+
"left_gripper",
|
| 192 |
+
"right_gripper"
|
| 193 |
+
],
|
| 194 |
+
"structure": "[floating_base(4), left_arm(5), right_arm(5), grippers(2)]"
|
| 195 |
+
},
|
| 196 |
+
"action.floating_base": {
|
| 197 |
+
"dtype": "float32",
|
| 198 |
+
"shape": [
|
| 199 |
+
4
|
| 200 |
+
],
|
| 201 |
+
"description": "Floating base action (4 dims)",
|
| 202 |
+
"names": [
|
| 203 |
+
"floating_base_x",
|
| 204 |
+
"floating_base_y",
|
| 205 |
+
"floating_base_z",
|
| 206 |
+
"floating_base_rz"
|
| 207 |
+
]
|
| 208 |
+
},
|
| 209 |
+
"action.arms": {
|
| 210 |
+
"dtype": "float32",
|
| 211 |
+
"shape": [
|
| 212 |
+
12
|
| 213 |
+
],
|
| 214 |
+
"description": "Arms + grippers action (12 dims)",
|
| 215 |
+
"names": [
|
| 216 |
+
"left_shoulder_pitch",
|
| 217 |
+
"left_shoulder_roll",
|
| 218 |
+
"left_shoulder_yaw",
|
| 219 |
+
"left_elbow",
|
| 220 |
+
"left_wrist",
|
| 221 |
+
"right_shoulder_pitch",
|
| 222 |
+
"right_shoulder_roll",
|
| 223 |
+
"right_shoulder_yaw",
|
| 224 |
+
"right_elbow",
|
| 225 |
+
"right_wrist",
|
| 226 |
+
"left_gripper",
|
| 227 |
+
"right_gripper"
|
| 228 |
+
],
|
| 229 |
+
"structure": "[left_arm(5), right_arm(5), grippers(2)]"
|
| 230 |
+
},
|
| 231 |
+
"observation.images.head": {
|
| 232 |
+
"dtype": "image",
|
| 233 |
+
"shape": [
|
| 234 |
+
256,
|
| 235 |
+
256,
|
| 236 |
+
3
|
| 237 |
+
],
|
| 238 |
+
"description": "head camera RGB image"
|
| 239 |
+
},
|
| 240 |
+
"observation.images.left_wrist": {
|
| 241 |
+
"dtype": "image",
|
| 242 |
+
"shape": [
|
| 243 |
+
256,
|
| 244 |
+
256,
|
| 245 |
+
3
|
| 246 |
+
],
|
| 247 |
+
"description": "left_wrist camera RGB image"
|
| 248 |
+
},
|
| 249 |
+
"observation.images.right_wrist": {
|
| 250 |
+
"dtype": "image",
|
| 251 |
+
"shape": [
|
| 252 |
+
256,
|
| 253 |
+
256,
|
| 254 |
+
3
|
| 255 |
+
],
|
| 256 |
+
"description": "right_wrist camera RGB image"
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"task_name": "StoreKitchenware",
|
| 260 |
+
"splits": {
|
| 261 |
+
"train": "0:33"
|
| 262 |
+
},
|
| 263 |
+
"dimension_info": {
|
| 264 |
+
"action_total": 16,
|
| 265 |
+
"action_floating_base": 4,
|
| 266 |
+
"action_arms": 12,
|
| 267 |
+
"obs_qpos": 30,
|
| 268 |
+
"obs_qvel": 30,
|
| 269 |
+
"obs_gripper": 2,
|
| 270 |
+
"obs_floating_base": 4,
|
| 271 |
+
"obs_floating_base_actions": 4,
|
| 272 |
+
"state_total": 16,
|
| 273 |
+
"state_arm": 12
|
| 274 |
+
}
|
| 275 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,622 @@
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| 1 |
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| 2 |
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|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "StoreKitchenware"}
|