Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/crisp_meta.json +95 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +166 -0
- meta/stats.json +759 -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:e2112e6c09124f97ad0693a58b95b252808d0e5b5d1bda175ad25d4545de4bc2
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size 41998
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meta/crisp_meta.json
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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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"robot_config": {
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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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0.0,
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| 18 |
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-0.785,
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0.0,
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| 20 |
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-2.355,
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| 21 |
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0.0,
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1.57,
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0.785
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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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| 28 |
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"cartesian_impedance_controller_name": "cartesian_impedance_controller",
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| 29 |
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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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| 35 |
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"current_robot_mode_topic": "robot_mode",
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| 36 |
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"publish_frequency": 50.0,
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| 37 |
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"time_to_home": 2.0,
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| 38 |
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"max_pose_delay": 1.0,
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| 39 |
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"max_joint_delay": 1.0,
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| 40 |
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"use_tf_pose": false,
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| 41 |
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"tf_retrieve_rate": 50.0,
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| 42 |
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"use_prefix": false
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},
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| 44 |
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"gripper_config": {
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| 45 |
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"min_value": 0.0,
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| 46 |
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"max_value": 0.08,
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| 47 |
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"position_command_topic": "gripper/gripper_position_commands",
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| 48 |
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"status_command_topic": "gripper/gripper_status_commands",
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| 49 |
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"joint_state_topic": "gripper/joint_states",
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| 50 |
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"open_close_state_topic": "gripper/open_close_states",
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| 51 |
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"reboot_service": "reboot_gripper",
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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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"use_binary_status_control": true
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| 58 |
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},
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| 59 |
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"camera_config": [
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| 60 |
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{
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| 61 |
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"camera_color_image_topic": "/camera/third_person_camera/color/image_raw",
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| 62 |
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"camera_color_info_topic": "/camera/third_person_camera/color/camera_info",
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| 63 |
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"camera_name": "primary",
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| 64 |
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"camera_frame": "primary_link",
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| 65 |
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"max_image_delay": 1.0,
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| 66 |
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"resolution": [
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256,
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| 68 |
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256
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| 69 |
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],
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| 70 |
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"crop_width": null,
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| 71 |
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"crop_height": null
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| 72 |
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},
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| 73 |
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{
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| 74 |
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"camera_color_image_topic": "/camera/wrist_camera/color/image_raw",
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| 75 |
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"camera_color_info_topic": "/camera/wrist_camera/color/camera_info",
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| 76 |
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"camera_name": "wrist",
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| 77 |
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"camera_frame": "wrist_link",
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| 78 |
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"max_image_delay": 1.0,
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| 79 |
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"resolution": [
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| 80 |
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256,
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| 81 |
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256
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| 82 |
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],
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| 83 |
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"crop_width": null,
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| 84 |
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"crop_height": null
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| 85 |
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}
|
| 86 |
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],
|
| 87 |
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"sensor_config": [],
|
| 88 |
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"gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
|
| 89 |
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"gripper_threshold": 0.1,
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| 90 |
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"cartesian_control_param_config": "None",
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| 91 |
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"joint_control_param_config": "None",
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| 92 |
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"orientation_representation": "OrientationRepresentation.EULER",
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| 93 |
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"use_relative_actions": true
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| 94 |
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}
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| 95 |
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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 sha256:067b133b985b3be2ad124c45011dd9979382a5413cb39298214b5f928d04696f
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size 63274
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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": "panda",
|
| 4 |
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"total_episodes": 1,
|
| 5 |
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"total_frames": 321,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
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"data_files_size_in_mb": 100,
|
| 9 |
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"video_files_size_in_mb": 200,
|
| 10 |
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"fps": 15,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:1"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.primary": {
|
| 18 |
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"dtype": "video",
|
| 19 |
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"shape": [
|
| 20 |
+
256,
|
| 21 |
+
256,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
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"names": [
|
| 25 |
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"height",
|
| 26 |
+
"width",
|
| 27 |
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"channels"
|
| 28 |
+
],
|
| 29 |
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"video_info": {
|
| 30 |
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"video.fps": 15.0,
|
| 31 |
+
"video.codec": "av1",
|
| 32 |
+
"video.pix_fmt": "yuv420p",
|
| 33 |
+
"video.is_depth_map": false,
|
| 34 |
+
"has_audio": false
|
| 35 |
+
},
|
| 36 |
+
"info": {
|
| 37 |
+
"video.height": 256,
|
| 38 |
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"video.width": 256,
|
| 39 |
+
"video.codec": "av1",
|
| 40 |
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"video.pix_fmt": "yuv420p",
|
| 41 |
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"video.is_depth_map": false,
|
| 42 |
+
"video.fps": 15,
|
| 43 |
+
"video.channels": 3,
|
| 44 |
+
"has_audio": false
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
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"observation.images.wrist": {
|
| 48 |
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"dtype": "video",
|
| 49 |
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"shape": [
|
| 50 |
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256,
|
| 51 |
+
256,
|
| 52 |
+
3
|
| 53 |
+
],
|
| 54 |
+
"names": [
|
| 55 |
+
"height",
|
| 56 |
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"width",
|
| 57 |
+
"channels"
|
| 58 |
+
],
|
| 59 |
+
"video_info": {
|
| 60 |
+
"video.fps": 15.0,
|
| 61 |
+
"video.codec": "av1",
|
| 62 |
+
"video.pix_fmt": "yuv420p",
|
| 63 |
+
"video.is_depth_map": false,
|
| 64 |
+
"has_audio": false
|
| 65 |
+
},
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 256,
|
| 68 |
+
"video.width": 256,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
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"video.fps": 15,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"observation.state.cartesian": {
|
| 78 |
+
"dtype": "float32",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"x",
|
| 84 |
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"y",
|
| 85 |
+
"z",
|
| 86 |
+
"roll",
|
| 87 |
+
"pitch",
|
| 88 |
+
"yaw"
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"observation.state.gripper": {
|
| 92 |
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"dtype": "float32",
|
| 93 |
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"shape": [
|
| 94 |
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1
|
| 95 |
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],
|
| 96 |
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"names": [
|
| 97 |
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"gripper"
|
| 98 |
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]
|
| 99 |
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},
|
| 100 |
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"observation.state": {
|
| 101 |
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"dtype": "float32",
|
| 102 |
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"shape": [
|
| 103 |
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7
|
| 104 |
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],
|
| 105 |
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"names": [
|
| 106 |
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"x",
|
| 107 |
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"y",
|
| 108 |
+
"z",
|
| 109 |
+
"roll",
|
| 110 |
+
"pitch",
|
| 111 |
+
"yaw",
|
| 112 |
+
"gripper"
|
| 113 |
+
]
|
| 114 |
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},
|
| 115 |
+
"action": {
|
| 116 |
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"dtype": "float32",
|
| 117 |
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"shape": [
|
| 118 |
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7
|
| 119 |
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],
|
| 120 |
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"names": [
|
| 121 |
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"x",
|
| 122 |
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"y",
|
| 123 |
+
"z",
|
| 124 |
+
"roll",
|
| 125 |
+
"pitch",
|
| 126 |
+
"yaw",
|
| 127 |
+
"gripper"
|
| 128 |
+
]
|
| 129 |
+
},
|
| 130 |
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"timestamp": {
|
| 131 |
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"dtype": "float32",
|
| 132 |
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"shape": [
|
| 133 |
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1
|
| 134 |
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],
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| 135 |
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"names": null
|
| 136 |
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},
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| 137 |
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"frame_index": {
|
| 138 |
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"dtype": "int64",
|
| 139 |
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"shape": [
|
| 140 |
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1
|
| 141 |
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],
|
| 142 |
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"names": null
|
| 143 |
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},
|
| 144 |
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"episode_index": {
|
| 145 |
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"dtype": "int64",
|
| 146 |
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"shape": [
|
| 147 |
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1
|
| 148 |
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],
|
| 149 |
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"names": null
|
| 150 |
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},
|
| 151 |
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"index": {
|
| 152 |
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"dtype": "int64",
|
| 153 |
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"shape": [
|
| 154 |
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1
|
| 155 |
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],
|
| 156 |
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"names": null
|
| 157 |
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},
|
| 158 |
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"task_index": {
|
| 159 |
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"dtype": "int64",
|
| 160 |
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"shape": [
|
| 161 |
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1
|
| 162 |
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],
|
| 163 |
+
"names": null
|
| 164 |
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}
|
| 165 |
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}
|
| 166 |
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}
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meta/stats.json
ADDED
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@@ -0,0 +1,759 @@
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| 1 |
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| 2 |
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| 33 |
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