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- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
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- meta/info.json +228 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.primary/episode_000000.mp4 +3 -0
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meta/crisp_meta.json
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{
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"crisp_gym_version": "3.2.2",
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| 3 |
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"crisp_py_version": "1.8.0",
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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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| 8 |
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"fr3_joint1",
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"fr3_joint2",
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"fr3_joint3",
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"fr3_joint4",
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"fr3_joint5",
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"fr3_joint6",
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"fr3_joint7"
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],
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"home_config": [
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],
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"base_frame": "base",
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| 26 |
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"target_frame": "fr3_hand_tcp",
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| 27 |
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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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| 30 |
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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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| 32 |
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"current_pose_topic": "current_pose",
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| 33 |
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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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| 35 |
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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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},
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"gripper_config": {
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| 43 |
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"min_value": -1.2977477450683594,
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| 44 |
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"max_value": -0.07976700087890626,
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| 45 |
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"command_topic": "gripper/gripper_position_controller/commands",
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| 46 |
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"joint_state_topic": "gripper/gripper_state_broadcaster/joint_states",
|
| 47 |
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"reboot_service": "reboot_gripper",
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| 48 |
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"enable_torque_service": "dynamixel_hardware_interface/set_dxl_torque",
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| 49 |
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"index": 0,
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| 50 |
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"publish_frequency": 30.0,
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| 51 |
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"max_joint_delay": 1.0,
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| 52 |
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"max_delta": 0.1
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| 53 |
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},
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| 54 |
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"camera_config": [
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| 55 |
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{
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| 56 |
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"camera_color_image_topic": "right_down_third_person_camera/color/image_raw",
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| 57 |
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"camera_color_info_topic": "right_down_third_person_camera/color/camera_info",
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| 58 |
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"resolution": [
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| 59 |
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256,
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| 60 |
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256
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],
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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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},
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| 66 |
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{
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| 67 |
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"camera_color_image_topic": "right_wrist_camera/color/image_rect_raw",
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| 68 |
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"camera_color_info_topic": "right_wrist_camera/color/camera_info",
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"resolution": [
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| 70 |
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| 71 |
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| 72 |
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],
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| 73 |
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"camera_name": "wrist",
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| 74 |
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"camera_frame": "wrist_link",
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"max_image_delay": 1.0
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| 76 |
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}
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| 77 |
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],
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"sensor_config": [
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| 79 |
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{
|
| 80 |
+
"shape": [
|
| 81 |
+
6
|
| 82 |
+
],
|
| 83 |
+
"sensor_type": "force_torque",
|
| 84 |
+
"name": "ft_sensor",
|
| 85 |
+
"data_topic": "/right/external_wrench",
|
| 86 |
+
"max_data_delay": 1.0
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
|
| 90 |
+
"gripper_threshold": 0.1,
|
| 91 |
+
"cartesian_control_param_config": "None",
|
| 92 |
+
"joint_control_param_config": "None"
|
| 93 |
+
}
|
| 94 |
+
}
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Insert the lego block on top of the other block"], "length": 379}
|
| 2 |
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|
| 3 |
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|
| 4 |
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{"episode_index": 3, "tasks": ["Insert the lego block on top of the other block"], "length": 410}
|
| 5 |
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{"episode_index": 4, "tasks": ["Insert the lego block on top of the other block"], "length": 555}
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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{"episode_index": 9, "tasks": ["Insert the lego block on top of the other block"], "length": 562}
|
| 11 |
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{"episode_index": 10, "tasks": ["Insert the lego block on top of the other block"], "length": 391}
|
| 12 |
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{"episode_index": 11, "tasks": ["Insert the lego block on top of the other block"], "length": 459}
|
| 13 |
+
{"episode_index": 12, "tasks": ["Insert the lego block on top of the other block"], "length": 426}
|
| 14 |
+
{"episode_index": 13, "tasks": ["Insert the lego block on top of the other block"], "length": 439}
|
| 15 |
+
{"episode_index": 14, "tasks": ["Insert the lego block on top of the other block"], "length": 349}
|
| 16 |
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{"episode_index": 15, "tasks": ["Insert the lego block on top of the other block"], "length": 475}
|
| 17 |
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{"episode_index": 16, "tasks": ["Insert the lego block on top of the other block"], "length": 450}
|
| 18 |
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{"episode_index": 17, "tasks": ["Insert the lego block on top of the other block"], "length": 573}
|
| 19 |
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{"episode_index": 18, "tasks": ["Insert the lego block on top of the other block"], "length": 431}
|
| 20 |
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{"episode_index": 19, "tasks": ["Insert the lego block on top of the other block"], "length": 496}
|
| 21 |
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{"episode_index": 20, "tasks": ["Insert the lego block on top of the other block"], "length": 392}
|
| 22 |
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{"episode_index": 21, "tasks": ["Insert the lego block on top of the other block"], "length": 367}
|
| 23 |
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{"episode_index": 22, "tasks": ["Insert the lego block on top of the other block"], "length": 509}
|
| 24 |
+
{"episode_index": 23, "tasks": ["Insert the lego block on top of the other block"], "length": 436}
|
| 25 |
+
{"episode_index": 24, "tasks": ["Insert the lego block on top of the other block"], "length": 387}
|
meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/info.json
ADDED
|
@@ -0,0 +1,228 @@
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|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
| 1 |
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{
|
| 2 |
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"codebase_version": "v2.1",
|
| 3 |
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"robot_type": "franka",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
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|
| 10 |
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|
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|
| 12 |
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"train": "0:25"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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},
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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|
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|
| 59 |
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|
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|
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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|
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|
| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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| 92 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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|
| 99 |
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| 100 |
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| 101 |
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| 104 |
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|
| 107 |
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|
| 108 |
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| 109 |
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| 110 |
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|
| 111 |
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|
| 112 |
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|
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
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|
| 133 |
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|
| 134 |
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| 135 |
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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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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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| 146 |
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| 148 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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|
| 158 |
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| 159 |
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| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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| 165 |
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|
| 166 |
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|
| 167 |
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| 168 |
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| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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| 176 |
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| 177 |
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|
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|
| 226 |
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|
| 227 |
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|
| 228 |
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}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Insert the lego block on top of the other block"}
|
videos/chunk-000/observation.images.primary/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:9d7e6ee4034bfa468d430cc1cc1245e78269c11f643c7f59dd0cb4c8f853a1d1
|
| 3 |
+
size 2259230
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videos/chunk-000/observation.images.primary/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
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