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meta/blacklist.json

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meta/episode_mapping.json

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+{
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+  "1": "data/step_3_filtered/episodes_16.mcap",
+  "2": "data/step_3_filtered/episodes_17.mcap",
+  "3": "data/step_3_filtered/episodes_18.mcap",
+  "4": "data/step_3_filtered/episodes_10.mcap",
+  "5": "data/step_3_filtered/episodes_24.mcap",
+  "6": "data/step_3_filtered/episodes_25.mcap",
+  "7": "data/step_3_filtered/episodes_19.mcap",
+  "8": "data/step_3_filtered/episodes_31.mcap",
+  "9": "data/step_3_filtered/episodes_33.mcap",
+  "10": "data/step_3_filtered/episodes_35.mcap",
+  "11": "data/step_3_filtered/episodes_40.mcap",
+  "12": "data/step_3_filtered/episodes_36.mcap",
+  "13": "data/step_3_filtered/episodes_37.mcap",
+  "14": "data/step_3_filtered/episodes_4.mcap",
+  "15": "data/step_3_filtered/episodes_38.mcap",
+  "16": "data/step_3_filtered/episodes_39.mcap",
+  "17": "data/step_3_filtered/episodes_41.mcap",
+  "18": "data/step_3_filtered/episodes_49.mcap",
+  "19": "data/step_3_filtered/episodes_53.mcap",
+  "20": "data/step_3_filtered/episodes_47.mcap",
+  "21": "data/step_3_filtered/episodes_50.mcap",
+  "22": "data/step_3_filtered/episodes_48.mcap",
+  "23": "data/step_3_filtered/episodes_52.mcap",
+  "24": "data/step_3_filtered/episodes_51.mcap",
+  "25": "data/step_3_filtered/episodes_54.mcap",
+  "26": "data/step_3_filtered/episodes_56.mcap",
+  "27": "data/step_3_filtered/episodes_57.mcap",
+  "28": "data/step_3_filtered/episodes_59.mcap",
+  "29": "data/step_3_filtered/episodes_58.mcap",
+  "30": "data/step_3_filtered/episodes_62.mcap",
+  "31": "data/step_3_filtered/episodes_61.mcap",
+  "32": "data/step_3_filtered/episodes_65.mcap",
+  "33": "data/step_3_filtered/episodes_63.mcap",
+  "34": "data/step_3_filtered/episodes_60.mcap",
+  "35": "data/step_3_filtered/episodes_66.mcap",
+  "36": "data/step_3_filtered/episodes_68.mcap",
+  "37": "data/step_3_filtered/episodes_64.mcap",
+  "38": "data/step_3_filtered/episodes_70.mcap",
+  "39": "data/step_3_filtered/episodes_69.mcap",
+  "40": "data/step_3_filtered/episodes_67.mcap",
+  "41": "data/step_3_filtered/episodes_71.mcap"
+}

meta/episodes.jsonl

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+            ],
+            "info": {
+                "video.height": 512,
+                "video.width": 512,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.depth_right": {
+            "dtype": "video",
+            "shape": [
+                512,
+                512,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 512,
+                "video.width": 512,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/pipeline_config.json

@@ -0,0 +1,29 @@
+{
+  "include_joint_positions": true,
+  "include_joint_velocities": false,
+  "include_joint_efforts": false,
+  "include_tcp_poses": true,
+  "include_last_command": true,
+  "include_rgb_images": true,
+  "include_depth_images": true,
+  "image_resolution": [
+    512,
+    512
+  ],
+  "depth_scale_factor": 1000.0,
+  "action_level": "tcp",
+  "left_gripper": "panda",
+  "right_gripper": "panda",
+  "task_name": "step_3",
+  "max_pause_seconds": 600,
+  "pause_velocity": -1,
+  "save_pauses": false,
+  "gripper_active_speed": 0.05,
+  "boost_factor": 1,
+  "grace_period_seconds": 0.2,
+  "save_normal": false,
+  "recording_fps": 30,
+  "target_fps": 10,
+  "subsample_offset": 0,
+  "min_episode_seconds": 1
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "step_3"}

videos/chunk-000/observation.images.depth_left/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e83d475f36f7db058fcc28b3056612c6dbbf6f6f7120928a0a62b43e332421e7
+size 1979832