Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/action_layout.json +19 -0
- meta/env_config.json +117 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +249 -0
- meta/stats.json +2039 -0
- meta/tasks.parquet +3 -0
- videos/obs.cameras.front.rgb/chunk-000/file-000.mp4 +3 -0
- videos/obs.cameras.wrist.rgb/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:736e5f240fcee3e016607ab3c35e59f807e55582aa310c4e144a1a87fb242140
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size 7128115
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meta/action_layout.json
ADDED
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@@ -0,0 +1,19 @@
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{
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"total_dim": 8,
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"segments": [
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{
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"name": "manipulator",
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| 6 |
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"start": 0,
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| 7 |
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"stop": 7,
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| 8 |
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"width": 7,
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| 9 |
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"ctrl_type": "OSCPoseAbsoluteQuatController"
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| 10 |
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},
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| 11 |
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{
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| 12 |
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"name": "gripper",
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| 13 |
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"start": 7,
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| 14 |
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"stop": 8,
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| 15 |
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"width": 1,
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| 16 |
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"ctrl_type": "JointPositionController"
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}
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]
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}
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meta/env_config.json
ADDED
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@@ -0,0 +1,117 @@
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{
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"task": "stack",
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"options": {
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"sim": {
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"control_hz": 20,
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"performance_mode": false,
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"n_envs": 1
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},
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"robot": {
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"type_of_robot": "single",
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"single": {
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"manipulator": "ur5",
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"gripper": "robotiq",
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"manipulator_controller": {
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| 15 |
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"name": "osc_pose_abs_quat",
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"config": {
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"normalized": false,
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"clip": false,
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"lin_range": [
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1.5,
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1.0,
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1.0
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],
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"ang_range": [
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3.1415,
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3.1415,
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3.1415
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]
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}
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},
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"gripper_controller": {
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"name": "joint_position",
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| 33 |
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"config": {
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| 34 |
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"normalized": true,
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| 35 |
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"clip": false
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}
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},
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"workspace": {
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"min": [
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0.08,
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-0.65,
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| 42 |
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-0.1
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],
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| 44 |
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"max": [
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0.75,
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0.65,
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0.6
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]
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| 49 |
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}
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},
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"left": null,
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| 52 |
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"right": null,
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| 53 |
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"layout": {
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| 54 |
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"preset": null,
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| 55 |
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"params": {},
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| 56 |
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"single": {
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| 57 |
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"pos": [
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0.0,
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0.0,
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0.0
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],
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"yaw_rad": 0.0,
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"quat": null
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| 64 |
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},
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| 65 |
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"left": null,
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| 66 |
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"right": null
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},
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| 68 |
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"visualize_tcp": false,
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| 69 |
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"visualize_aabb": false
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},
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"cameras": {
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"static": {
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"front": {
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"pos": [
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1.3,
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0.0,
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0.5
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],
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| 79 |
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"lookat": [
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0.0,
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0.0,
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0.0
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],
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"fov": 75.0,
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"res": [
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224,
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224
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]
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}
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},
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"dynamic": {
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| 92 |
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"wrist": {
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| 93 |
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"link": null,
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| 94 |
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"pos_offset": [
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| 95 |
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0,
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| 96 |
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0.14,
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| 97 |
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0
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| 98 |
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],
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| 99 |
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"quat_offset": [
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| 100 |
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0.3466353,
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| 101 |
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-0.938,
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| 102 |
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0,
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| 103 |
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0
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| 104 |
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],
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| 105 |
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"fov": 60.0,
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| 106 |
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"res": [
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224,
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| 108 |
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224
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| 109 |
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]
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| 110 |
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}
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| 111 |
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},
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| 112 |
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"modalities": [
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| 113 |
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"rgb"
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| 114 |
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]
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| 115 |
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}
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| 116 |
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}
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| 117 |
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}
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:d10984429ea431ce162e3a96fa3ddec6642141e401f238f4d3eb3618891723fa
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size 1732890
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meta/info.json
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| 1 |
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{
|
| 2 |
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"codebase_version": "v3.0",
|
| 3 |
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"robot_type": null,
|
| 4 |
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"total_episodes": 100,
|
| 5 |
+
"total_frames": 13209,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 500,
|
| 10 |
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"fps": 20,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:100"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"obs.state.gripper.grasp_tip_pos": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
"obs.state.gripper.pinch_min": {
|
| 24 |
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"dtype": "float32",
|
| 25 |
+
"shape": [
|
| 26 |
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1
|
| 27 |
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]
|
| 28 |
+
},
|
| 29 |
+
"obs.state.gripper.pinch_widths": {
|
| 30 |
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"dtype": "float32",
|
| 31 |
+
"shape": [
|
| 32 |
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1
|
| 33 |
+
]
|
| 34 |
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},
|
| 35 |
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"obs.state.gripper.qpos": {
|
| 36 |
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"dtype": "float32",
|
| 37 |
+
"shape": [
|
| 38 |
+
6
|
| 39 |
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]
|
| 40 |
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},
|
| 41 |
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"obs.state.gripper.qtorque": {
|
| 42 |
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"dtype": "float32",
|
| 43 |
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"shape": [
|
| 44 |
+
6
|
| 45 |
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]
|
| 46 |
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},
|
| 47 |
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"obs.state.gripper.qvel": {
|
| 48 |
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"dtype": "float32",
|
| 49 |
+
"shape": [
|
| 50 |
+
6
|
| 51 |
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]
|
| 52 |
+
},
|
| 53 |
+
"obs.state.gripper.tcp_pos": {
|
| 54 |
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"dtype": "float32",
|
| 55 |
+
"shape": [
|
| 56 |
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3
|
| 57 |
+
]
|
| 58 |
+
},
|
| 59 |
+
"obs.state.gripper.tcp_quat": {
|
| 60 |
+
"dtype": "float32",
|
| 61 |
+
"shape": [
|
| 62 |
+
4
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
"reward": {
|
| 66 |
+
"dtype": "float32",
|
| 67 |
+
"shape": [
|
| 68 |
+
1
|
| 69 |
+
]
|
| 70 |
+
},
|
| 71 |
+
"truncated": {
|
| 72 |
+
"dtype": "bool",
|
| 73 |
+
"shape": [
|
| 74 |
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1
|
| 75 |
+
]
|
| 76 |
+
},
|
| 77 |
+
"success": {
|
| 78 |
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"dtype": "bool",
|
| 79 |
+
"shape": [
|
| 80 |
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1
|
| 81 |
+
]
|
| 82 |
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},
|
| 83 |
+
"failure": {
|
| 84 |
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"dtype": "bool",
|
| 85 |
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"shape": [
|
| 86 |
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1
|
| 87 |
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]
|
| 88 |
+
},
|
| 89 |
+
"action": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
8
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
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"obs.state.manipulator.eef_pos": {
|
| 96 |
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|
meta/stats.json
ADDED
|
@@ -0,0 +1,2039 @@
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