Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/crisp_meta.json +94 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +208 -0
- meta/stats.json +1039 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.primary/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.wrist/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 sha256:04889f4bdae068343748eae326c65d01a8d568842a28b5585988ff19ee58822b
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size 6279524
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meta/crisp_meta.json
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@@ -0,0 +1,94 @@
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{
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"crisp_gym_version": "4.2.0",
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"crisp_py_version": "3.0.0",
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| 4 |
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"control_type": "CARTESIAN",
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| 5 |
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"env_config": {
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| 6 |
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"robot_config": {
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| 7 |
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"joint_names": [
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"panda_joint1",
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"panda_joint2",
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"panda_joint3",
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"panda_joint4",
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"panda_joint5",
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"panda_joint6",
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"panda_joint7"
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],
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"home_config": [
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0,
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-0.7853981633974483,
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0,
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0.7853981633974483
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],
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| 25 |
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"base_frame": "base",
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| 26 |
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"target_frame": "panda_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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| 31 |
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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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| 34 |
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"current_twist_topic": "current_twist",
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"publish_frequency": 50.0,
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| 36 |
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"time_to_home": 5.0,
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| 37 |
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"max_pose_delay": 1.0,
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| 38 |
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"max_joint_delay": 1.0,
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| 39 |
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"use_tf_pose": false,
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| 40 |
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"tf_retrieve_rate": 50.0,
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| 41 |
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"use_prefix": false
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},
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| 43 |
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"gripper_config": {
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| 44 |
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"min_value": 0.0,
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| 45 |
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"max_value": 0.08,
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| 46 |
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"command_topic": "/left/gripper/gripper_position_controller/commands",
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| 47 |
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"closing_command_topic": "/left/gripper/gripper_closing_controller/commands",
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| 48 |
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"joint_state_topic": "/left/gripper/joint_states",
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| 49 |
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"closing_state_topic": "/left/gripper/closing_state",
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| 50 |
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"reboot_service": "reboot_gripper",
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| 51 |
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"stop_service": "/left/panda_gripper/stop",
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| 52 |
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"enable_torque_service": "dynamixel_hardware_interface/set_dxl_torque",
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| 53 |
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"index": 0,
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| 54 |
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"publish_frequency": 30.0,
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| 55 |
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"max_joint_delay": 1.0,
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| 56 |
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"max_delta": 0.1
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| 57 |
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},
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| 58 |
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"camera_config": [
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| 59 |
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{
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| 60 |
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"camera_color_image_topic": "/camera/third_person_camera/color/image_raw",
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| 61 |
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"camera_color_info_topic": "/camera/third_person_camera/color/camera_info",
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| 62 |
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"camera_name": "primary",
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| 63 |
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"camera_frame": "primary_link",
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| 64 |
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"max_image_delay": 1.0,
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| 65 |
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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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| 72 |
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{
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| 73 |
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"camera_color_image_topic": "/camera/wrist_camera/color/image_raw",
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| 74 |
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"camera_color_info_topic": "/camera/wrist_camera/color/camera_info",
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| 75 |
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"camera_name": "wrist",
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| 76 |
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"camera_frame": "wrist_link",
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| 77 |
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"max_image_delay": 1.0,
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| 78 |
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"resolution": [
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256,
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| 80 |
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256
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| 81 |
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],
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| 82 |
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"crop_width": null,
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| 83 |
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"crop_height": null
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| 84 |
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}
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| 85 |
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],
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| 86 |
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"sensor_config": [],
|
| 87 |
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"gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
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| 88 |
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"gripper_threshold": 0.1,
|
| 89 |
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"cartesian_control_param_config": "/home/cbrian/crisp_gym_debug/crisp_gym_ITR/.pixi/envs/jazzy-lerobot/lib/python3.12/site-packages/crisp_py/config/control/default_cartesian_impedance.yaml",
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| 90 |
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"joint_control_param_config": "/home/cbrian/crisp_gym_debug/crisp_gym_ITR/.pixi/envs/jazzy-lerobot/lib/python3.12/site-packages/crisp_py/config/control/joint_control.yaml",
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| 91 |
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"orientation_representation": "OrientationRepresentation.EULER",
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| 92 |
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"use_relative_actions": true
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| 93 |
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}
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| 94 |
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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:abee1849ec32f638b8752592b13845a2415e4e0379203e18f3ff1f325bc11a0b
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size 610160
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meta/info.json
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{
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| 2 |
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"codebase_version": "v3.0",
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| 3 |
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"robot_type": "panda",
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| 4 |
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"total_episodes": 71,
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| 5 |
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"total_frames": 24011,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"chunks_size": 1000,
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| 8 |
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"data_files_size_in_mb": 100,
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| 9 |
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"video_files_size_in_mb": 200,
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| 10 |
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"fps": 15,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:71"
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| 13 |
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},
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| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"observation.images.primary": {
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| 18 |
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"dtype": "video",
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| 19 |
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"shape": [
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| 20 |
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256,
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| 21 |
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256,
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| 22 |
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3
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| 23 |
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],
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| 24 |
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"names": [
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| 25 |
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"height",
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| 26 |
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"width",
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| 27 |
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"channels"
|
| 28 |
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],
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| 29 |
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"video_info": {
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| 30 |
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"video.fps": 30.0,
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| 31 |
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"video.codec": "av1",
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| 32 |
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"video.pix_fmt": "yuv420p",
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| 33 |
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"video.is_depth_map": false,
|
| 34 |
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"has_audio": false
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| 35 |
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},
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| 36 |
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"info": {
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| 37 |
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"video.height": 256,
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| 38 |
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"video.width": 256,
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| 39 |
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"video.codec": "av1",
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| 40 |
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"video.pix_fmt": "yuv420p",
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| 41 |
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"video.is_depth_map": false,
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| 42 |
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"video.fps": 15,
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| 43 |
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"video.channels": 3,
|
| 44 |
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"has_audio": false
|
| 45 |
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}
|
| 46 |
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},
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| 47 |
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"observation.images.wrist": {
|
| 48 |
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"dtype": "video",
|
| 49 |
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"shape": [
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| 50 |
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256,
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| 51 |
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256,
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| 52 |
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| 53 |
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],
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| 54 |
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"names": [
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| 55 |
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"height",
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| 56 |
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"width",
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| 57 |
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"channels"
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| 58 |
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],
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| 59 |
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"video_info": {
|
| 60 |
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| 61 |
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| 64 |
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|
| 65 |
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},
|
| 66 |
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"info": {
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| 67 |
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|
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"video.pix_fmt": "yuv420p",
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"has_audio": false
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}
|
| 76 |
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},
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"observation.state.cartesian": {
|
| 78 |
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"dtype": "float32",
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"shape": [
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],
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"names": [
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"x",
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| 86 |
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| 87 |
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"pitch",
|
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"yaw"
|
| 89 |
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]
|
| 90 |
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},
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| 91 |
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"observation.state.gripper": {
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| 92 |
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"dtype": "float32",
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"shape": [
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],
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"names": [
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"gripper"
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]
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| 99 |
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},
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| 100 |
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"observation.state.joints": {
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"dtype": "float32",
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"shape": [
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"names": [
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"joint_0",
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"joint_1",
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"joint_2",
|
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"joint_3",
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| 110 |
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"joint_4",
|
| 111 |
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"joint_5",
|
| 112 |
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"joint_6"
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| 113 |
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]
|
| 114 |
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},
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| 115 |
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"observation.state.target": {
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| 116 |
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"dtype": "float32",
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| 117 |
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"names": [
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| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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"target_roll",
|
| 125 |
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"target_pitch",
|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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"observation.state": {
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| 131 |
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| 132 |
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| 133 |
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"names": [
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| 136 |
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| 137 |
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| 138 |
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|
| 139 |
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|
| 140 |
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"yaw",
|
| 141 |
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"gripper",
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| 142 |
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"joint_0",
|
| 143 |
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"joint_1",
|
| 144 |
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"joint_2",
|
| 145 |
+
"joint_3",
|
| 146 |
+
"joint_4",
|
| 147 |
+
"joint_5",
|
| 148 |
+
"joint_6",
|
| 149 |
+
"target_x",
|
| 150 |
+
"target_y",
|
| 151 |
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"target_z",
|
| 152 |
+
"target_roll",
|
| 153 |
+
"target_pitch",
|
| 154 |
+
"target_yaw"
|
| 155 |
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]
|
| 156 |
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},
|
| 157 |
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"action": {
|
| 158 |
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"dtype": "float32",
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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"names": [
|
| 163 |
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"x",
|
| 164 |
+
"y",
|
| 165 |
+
"z",
|
| 166 |
+
"roll",
|
| 167 |
+
"pitch",
|
| 168 |
+
"yaw",
|
| 169 |
+
"gripper"
|
| 170 |
+
]
|
| 171 |
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},
|
| 172 |
+
"timestamp": {
|
| 173 |
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"dtype": "float32",
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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1
|
| 183 |
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|
| 184 |
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|
| 185 |
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},
|
| 186 |
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|
| 187 |
+
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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"names": null
|
| 192 |
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|
| 193 |
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|
| 194 |
+
"dtype": "int64",
|
| 195 |
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"shape": [
|
| 196 |
+
1
|
| 197 |
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|
| 198 |
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"names": null
|
| 199 |
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|
| 200 |
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"task_index": {
|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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}
|
| 207 |
+
}
|
| 208 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,1039 @@
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