Upload train unified v3 (part 17)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode295.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode295.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode296.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode296.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode297.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode297.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode298.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode298.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode299.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode299.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode3.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode3.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode30.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode30.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode300.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode300.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode301.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode301.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode302.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode302.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode303.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode303.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode304.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode304.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode305.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode305.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode306.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode306.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode307.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode307.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode308.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode308.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode309.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode309.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode31.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode31.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode310.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode310.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode311.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode311.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode312.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode312.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode313.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode313.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode314.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode314.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode315.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode315.npy +3 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode316.json +88 -0
- train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode316.npy +3 -0
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode295.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 295,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
189,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.15004754066467285,
|
| 84 |
+
"max_abs_articulated_22d": 0.15004754066467285,
|
| 85 |
+
"rms_24d": 0.02321307733654976,
|
| 86 |
+
"rms_articulated_22d": 0.02424526959657669
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode295.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1a10dfbb71c0afcb0454784c8d8b368d420273c66954cc856f9591ea82080780
|
| 3 |
+
size 18272
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode296.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 296,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
108,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.20696121454238892,
|
| 84 |
+
"max_abs_articulated_22d": 0.20696121454238892,
|
| 85 |
+
"rms_24d": 0.03487915173172951,
|
| 86 |
+
"rms_articulated_22d": 0.036430083215236664
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode296.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:465117a53c77200d9ab69e190f684415e164d9aef6e7a74689a0c7e7b5ea7740
|
| 3 |
+
size 10496
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode297.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 297,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
137,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.11445915699005127,
|
| 84 |
+
"max_abs_articulated_22d": 0.11445915699005127,
|
| 85 |
+
"rms_24d": 0.01975329965353012,
|
| 86 |
+
"rms_articulated_22d": 0.02063164673745632
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode297.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fc226ecc47d3a71e101478b1ea5857ea1eb89365cbdb330bd63cc93e53b12655
|
| 3 |
+
size 13280
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode298.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 298,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
107,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.46022868156433105,
|
| 84 |
+
"max_abs_articulated_22d": 0.46022868156433105,
|
| 85 |
+
"rms_24d": 0.04885648563504219,
|
| 86 |
+
"rms_articulated_22d": 0.051028937101364136
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode298.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f0662e3b606540db87690a18dce7721ccdb5bdf9e032972e06c9114d81132f26
|
| 3 |
+
size 10400
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode299.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 299,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
177,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.42229747772216797,
|
| 84 |
+
"max_abs_articulated_22d": 0.42229747772216797,
|
| 85 |
+
"rms_24d": 0.049129217863082886,
|
| 86 |
+
"rms_articulated_22d": 0.051313795149326324
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode299.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:88a1466ae73e6c53188c2a3676b9a4111136339d93e08ad6a50c11edbcc069bf
|
| 3 |
+
size 17120
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode3.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 3,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
160,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.1707950234413147,
|
| 84 |
+
"max_abs_articulated_22d": 0.1707950234413147,
|
| 85 |
+
"rms_24d": 0.025037210434675217,
|
| 86 |
+
"rms_articulated_22d": 0.02615051344037056
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode3.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:33c31c799184a25c4952902a4978f8608705d98f8b002f63cb2455e41cb40729
|
| 3 |
+
size 15488
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode30.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 30,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
131,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.09292721748352051,
|
| 84 |
+
"max_abs_articulated_22d": 0.09292721748352051,
|
| 85 |
+
"rms_24d": 0.01622791215777397,
|
| 86 |
+
"rms_articulated_22d": 0.016949502751231194
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode30.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c054ff5114e11a98d2adca31eba5efaa4a6cd2b3cdb6b417a1cf1d7bb1751611
|
| 3 |
+
size 12704
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode300.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 300,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
151,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.5169060230255127,
|
| 84 |
+
"max_abs_articulated_22d": 0.5169060230255127,
|
| 85 |
+
"rms_24d": 0.052826426923274994,
|
| 86 |
+
"rms_articulated_22d": 0.055175404995679855
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode300.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:94ef612b42b275634663a725e10410c15d029467d83b2660f85a00b3a2343902
|
| 3 |
+
size 14624
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode301.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 301,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
355,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.41696640849113464,
|
| 84 |
+
"max_abs_articulated_22d": 0.41696640849113464,
|
| 85 |
+
"rms_24d": 0.04072079807519913,
|
| 86 |
+
"rms_articulated_22d": 0.04253148287534714
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode301.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:05b5b3563086b4639ec987056b347326238317a73f8c0f94d815bc7b365d5a97
|
| 3 |
+
size 34208
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode302.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 302,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
136,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.15973633527755737,
|
| 84 |
+
"max_abs_articulated_22d": 0.15973633527755737,
|
| 85 |
+
"rms_24d": 0.028778476640582085,
|
| 86 |
+
"rms_articulated_22d": 0.030058138072490692
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode302.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1bf37dbf6724686c61a74e58cf9e75a4cc232477d5038bdd054020e133a6fb12
|
| 3 |
+
size 13184
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode303.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 303,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
105,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.25209033489227295,
|
| 84 |
+
"max_abs_articulated_22d": 0.25209033489227295,
|
| 85 |
+
"rms_24d": 0.03160804137587547,
|
| 86 |
+
"rms_articulated_22d": 0.03301352635025978
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode303.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bfc43b5c8d3b49a72b612a10e5074ed3f92e29034b2f9a23b53ad0aef6a61ed7
|
| 3 |
+
size 10208
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode304.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 304,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
121,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.2361563891172409,
|
| 84 |
+
"max_abs_articulated_22d": 0.2361563891172409,
|
| 85 |
+
"rms_24d": 0.04134035483002663,
|
| 86 |
+
"rms_articulated_22d": 0.04317859187722206
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode304.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:737ccbaefb879e3f7f0997ed43794a839a5c22adb3fc6fcb943945bd9ba68ae4
|
| 3 |
+
size 11744
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode305.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 305,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
113,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.27078360319137573,
|
| 84 |
+
"max_abs_articulated_22d": 0.27078360319137573,
|
| 85 |
+
"rms_24d": 0.032826829701662064,
|
| 86 |
+
"rms_articulated_22d": 0.0342865027487278
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode305.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b96d8b719ba95b78a7f606fd3a04323ae2a6756f12e131674973aebad63aec26
|
| 3 |
+
size 10976
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode306.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 306,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
406,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.2964187264442444,
|
| 84 |
+
"max_abs_articulated_22d": 0.2964187264442444,
|
| 85 |
+
"rms_24d": 0.022732514888048172,
|
| 86 |
+
"rms_articulated_22d": 0.023743337020277977
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode306.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f768c767f1a56ef509631bf774b93e8391215b12833b57ea6bd213ab21b6a9cc
|
| 3 |
+
size 39104
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode307.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 307,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
194,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.1806153655052185,
|
| 84 |
+
"max_abs_articulated_22d": 0.1806153655052185,
|
| 85 |
+
"rms_24d": 0.02110368385910988,
|
| 86 |
+
"rms_articulated_22d": 0.022042078897356987
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode307.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:64cd677bcbe2e229f14a8debbc63ad7e9e66836d4143fba80f674d4f2f9cd552
|
| 3 |
+
size 18752
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode308.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 308,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
136,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.1839800477027893,
|
| 84 |
+
"max_abs_articulated_22d": 0.1839800477027893,
|
| 85 |
+
"rms_24d": 0.027201058343052864,
|
| 86 |
+
"rms_articulated_22d": 0.02841057814657688
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode308.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9b8b8744837f5fab413b3e0cd7ec0696258ecdbaabed42027a69d61be5972dec
|
| 3 |
+
size 13184
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode309.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 309,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
176,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.23200851678848267,
|
| 84 |
+
"max_abs_articulated_22d": 0.23200851678848267,
|
| 85 |
+
"rms_24d": 0.02435735985636711,
|
| 86 |
+
"rms_articulated_22d": 0.025440432131290436
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode309.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:35206e97865ffaf7b44d9bb63ca465aa82d946401fe98494298ea29f7d57df6f
|
| 3 |
+
size 17024
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode31.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 31,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
107,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.12888771295547485,
|
| 84 |
+
"max_abs_articulated_22d": 0.12888771295547485,
|
| 85 |
+
"rms_24d": 0.021447381004691124,
|
| 86 |
+
"rms_articulated_22d": 0.022401059046387672
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode31.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:adc54fabc3790170cb8f83a4d0df4d1b7f1605618b5bc4e9708693aefe2a0be3
|
| 3 |
+
size 10400
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode310.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 310,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
157,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.18504858016967773,
|
| 84 |
+
"max_abs_articulated_22d": 0.18504858016967773,
|
| 85 |
+
"rms_24d": 0.02567562460899353,
|
| 86 |
+
"rms_articulated_22d": 0.026817316189408302
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode310.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a1725bc8290ef9740c97be8133533d252f8fe70ce40f0ed05459dd6216ad8b1a
|
| 3 |
+
size 15200
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode311.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 311,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
329,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.4375546872615814,
|
| 84 |
+
"max_abs_articulated_22d": 0.4375546872615814,
|
| 85 |
+
"rms_24d": 0.03537910431623459,
|
| 86 |
+
"rms_articulated_22d": 0.036952268332242966
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode311.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95f228d9dc6d290702847a36d59ceb93251b8fafa3b03824329bf2f7f03d6708
|
| 3 |
+
size 31712
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode312.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 312,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
506,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.43525072932243347,
|
| 84 |
+
"max_abs_articulated_22d": 0.43525072932243347,
|
| 85 |
+
"rms_24d": 0.03222554922103882,
|
| 86 |
+
"rms_articulated_22d": 0.03365848585963249
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode312.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c4eca14665f0efa5d450ac547a7f3798cf66f38f243ab9bd76a8fd586352fa7e
|
| 3 |
+
size 48704
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode313.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 313,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
146,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.2337656021118164,
|
| 84 |
+
"max_abs_articulated_22d": 0.2337656021118164,
|
| 85 |
+
"rms_24d": 0.03278275579214096,
|
| 86 |
+
"rms_articulated_22d": 0.0342404730618
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode313.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cad1b9167e0a3a89ff01da790c933ac776ec7d0f2b07bae93ba03811b27a6029
|
| 3 |
+
size 14144
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode314.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 314,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
158,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.20639312267303467,
|
| 84 |
+
"max_abs_articulated_22d": 0.20639312267303467,
|
| 85 |
+
"rms_24d": 0.03150905668735504,
|
| 86 |
+
"rms_articulated_22d": 0.03291013836860657
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode314.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:086c6bc117377cedee126593019884d8f7c0dff14a5addac294f2827e3900f49
|
| 3 |
+
size 15296
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode315.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 315,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
152,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.3074529767036438,
|
| 84 |
+
"max_abs_articulated_22d": 0.3074529767036438,
|
| 85 |
+
"rms_24d": 0.04897146299481392,
|
| 86 |
+
"rms_articulated_22d": 0.051149025559425354
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode315.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:77fe1ee2f96ee2f1d5186873621650530fe823a4cbe6e56d4d6522c96479f9e8
|
| 3 |
+
size 14720
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode316.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"articulated_dimensions": {
|
| 3 |
+
"indices": [
|
| 4 |
+
2,
|
| 5 |
+
3,
|
| 6 |
+
4,
|
| 7 |
+
5,
|
| 8 |
+
6,
|
| 9 |
+
7,
|
| 10 |
+
8,
|
| 11 |
+
9,
|
| 12 |
+
10,
|
| 13 |
+
11,
|
| 14 |
+
12,
|
| 15 |
+
13,
|
| 16 |
+
14,
|
| 17 |
+
15,
|
| 18 |
+
16,
|
| 19 |
+
17,
|
| 20 |
+
18,
|
| 21 |
+
19,
|
| 22 |
+
20,
|
| 23 |
+
21,
|
| 24 |
+
22,
|
| 25 |
+
23
|
| 26 |
+
],
|
| 27 |
+
"source": "isaac_articulation_get_joint_positions"
|
| 28 |
+
},
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"episode": 316,
|
| 31 |
+
"fields": {
|
| 32 |
+
"head/position": [
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18
|
| 36 |
+
],
|
| 37 |
+
"joint/position": [
|
| 38 |
+
2,
|
| 39 |
+
3,
|
| 40 |
+
4,
|
| 41 |
+
5,
|
| 42 |
+
6,
|
| 43 |
+
7,
|
| 44 |
+
8,
|
| 45 |
+
9,
|
| 46 |
+
10,
|
| 47 |
+
11,
|
| 48 |
+
12,
|
| 49 |
+
13,
|
| 50 |
+
14,
|
| 51 |
+
15
|
| 52 |
+
],
|
| 53 |
+
"left_effector/position": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"right_effector/position": [
|
| 57 |
+
1
|
| 58 |
+
],
|
| 59 |
+
"waist/position": [
|
| 60 |
+
19,
|
| 61 |
+
20,
|
| 62 |
+
21,
|
| 63 |
+
22,
|
| 64 |
+
23
|
| 65 |
+
]
|
| 66 |
+
},
|
| 67 |
+
"fps": 30,
|
| 68 |
+
"gripper_dimensions": {
|
| 69 |
+
"indices": [
|
| 70 |
+
0,
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"note": "crt_120s fingers are kinematic and have no articulation DOF",
|
| 74 |
+
"source": "realized_kinematic_open_fraction"
|
| 75 |
+
},
|
| 76 |
+
"sample_timing": "after_controller_target_and_simulation_update",
|
| 77 |
+
"schema_version": 1,
|
| 78 |
+
"shape": [
|
| 79 |
+
493,
|
| 80 |
+
24
|
| 81 |
+
],
|
| 82 |
+
"tracking_error_vs_target": {
|
| 83 |
+
"max_abs_24d": 0.4848681092262268,
|
| 84 |
+
"max_abs_articulated_22d": 0.4848681092262268,
|
| 85 |
+
"rms_24d": 0.029968319460749626,
|
| 86 |
+
"rms_articulated_22d": 0.03130088746547699
|
| 87 |
+
}
|
| 88 |
+
}
|
train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode316.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:192e551251bde1231cf1bef4f1c0b0c4e5abec7352be9148e4f9b3c30ce1ecc5
|
| 3 |
+
size 47456
|