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- meta/info.json +528 -0
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- videos/observation.images.sawyer/chunk-000/file-000.mp4 +3 -0
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README.md
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| 1 |
+
---
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| 2 |
+
pretty_name: "bridge_train_5000_10000_augmented"
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| 3 |
+
license: "cc-by-4.0"
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| 4 |
+
tags: [robotics, lerobot, oxe-auge, dataset]
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| 5 |
+
task_categories: [robotics]
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| 6 |
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| 7 |
+
oxe_aug:
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| 8 |
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codebase_version: "v3.0"
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| 9 |
+
robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "panda", "sawyer", "ur5e", "xarm7"]
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| 10 |
+
fps: 5
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| 11 |
+
total_episodes: 5000
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| 12 |
+
total_frames: 168737
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| 13 |
+
total_videos: null
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| 14 |
+
|
| 15 |
+
configs:
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| 16 |
+
- config_name: default
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| 17 |
+
data_files:
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| 18 |
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- split: train
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| 19 |
+
path:
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| 20 |
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- "data/chunk-*/file-*.parquet"
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| 21 |
+
---
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| 22 |
+
# bridge_train_5000_10000_augmented
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| 23 |
+
|
| 24 |
+
## Overview
|
| 25 |
+
|
| 26 |
+
- **Codebase version**: `v3.0`
|
| 27 |
+
- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
|
| 28 |
+
- **FPS**: 5
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| 29 |
+
- **Episodes**: 5,000
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| 30 |
+
- **Frames**: 168,737
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| 31 |
+
- **Splits**:
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| 32 |
+
- `train`: `0:5000`
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| 33 |
+
|
| 34 |
+
## Data Layout
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| 35 |
+
|
| 36 |
+
```text
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| 37 |
+
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
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| 38 |
+
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
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| 39 |
+
```
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| 40 |
+
|
| 41 |
+
## Features
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| 42 |
+
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| 43 |
+
| Feature | dtype | shape | description |
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| 44 |
+
|---|---:|---:|---|
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| 45 |
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| `observation.images.google_robot` | `video` | `480×640×3` | Augmented image for google_robot robot |
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| 46 |
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| `observation.images.image` | `video` | `480×640×3` | Source robot's image from original dataset |
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| 47 |
+
| `observation.images.jaco` | `video` | `480×640×3` | Augmented image for jaco robot |
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| 48 |
+
| `observation.images.kinova3` | `video` | `480×640×3` | Augmented image for kinova3 robot |
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| 49 |
+
| `observation.images.kuka_iiwa` | `video` | `480×640×3` | Augmented image for kuka_iiwa robot |
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| 50 |
+
| `observation.images.panda` | `video` | `480×640×3` | Augmented image for panda robot |
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| 51 |
+
| `observation.images.sawyer` | `video` | `480×640×3` | Augmented image for sawyer robot |
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| 52 |
+
| `observation.images.ur5e` | `video` | `480×640×3` | Augmented image for ur5e robot |
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| 53 |
+
| `observation.images.xarm7` | `video` | `480×640×3` | Augmented image for xarm7 robot |
|
| 54 |
+
| `episode_index` | `int64` | `1` | Index of the current episode within the dataset. |
|
| 55 |
+
| `frame_index` | `int64` | `1` | Index of the current frame within its episode. |
|
| 56 |
+
| `index` | `int64` | `1` | Global frame index across the whole dataset. |
|
| 57 |
+
| `natural_language_instruction` | `string` | `1` | Natural language command describing the task |
|
| 58 |
+
| `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
|
| 59 |
+
| `observation.google_robot.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 60 |
+
| `observation.google_robot.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 61 |
+
| `observation.google_robot.ee_error` | `float32` | `7` | The eef difference between the augmented google_robot robot and the original robot |
|
| 62 |
+
| `observation.google_robot.ee_pose` | `float32` | `7` | The eef position of google_robot robot |
|
| 63 |
+
| `observation.google_robot.joints` | `float32` | `8` | The joint position of google_robot robot |
|
| 64 |
+
| `observation.jaco.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 65 |
+
| `observation.jaco.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 66 |
+
| `observation.jaco.ee_error` | `float32` | `7` | The eef difference between the augmented jaco robot and the original robot |
|
| 67 |
+
| `observation.jaco.ee_pose` | `float32` | `7` | The eef position of jaco robot |
|
| 68 |
+
| `observation.jaco.joints` | `float32` | `7` | The joint position of jaco robot |
|
| 69 |
+
| `observation.joints` | `float32` | `7` | Joint angle of source robot |
|
| 70 |
+
| `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 71 |
+
| `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 72 |
+
| `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
|
| 73 |
+
| `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
|
| 74 |
+
| `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
|
| 75 |
+
| `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 76 |
+
| `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 77 |
+
| `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
|
| 78 |
+
| `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
|
| 79 |
+
| `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
|
| 80 |
+
| `observation.panda.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 81 |
+
| `observation.panda.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 82 |
+
| `observation.panda.ee_error` | `float32` | `7` | The eef difference between the augmented panda robot and the original robot |
|
| 83 |
+
| `observation.panda.ee_pose` | `float32` | `7` | The eef position of panda robot |
|
| 84 |
+
| `observation.panda.joints` | `float32` | `8` | The joint position of panda robot |
|
| 85 |
+
| `observation.sawyer.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 86 |
+
| `observation.sawyer.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 87 |
+
| `observation.sawyer.ee_error` | `float32` | `7` | The eef difference between the augmented sawyer robot and the original robot |
|
| 88 |
+
| `observation.sawyer.ee_pose` | `float32` | `7` | The eef position of sawyer robot |
|
| 89 |
+
| `observation.sawyer.joints` | `float32` | `8` | The joint position of sawyer robot |
|
| 90 |
+
| `observation.state` | `float32` | `7` | Copy of the state field in source robot's RLDS dataset |
|
| 91 |
+
| `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 92 |
+
| `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 93 |
+
| `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
|
| 94 |
+
| `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
|
| 95 |
+
| `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
|
| 96 |
+
| `observation.xarm7.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 97 |
+
| `observation.xarm7.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 98 |
+
| `observation.xarm7.ee_error` | `float32` | `7` | The eef difference between the augmented xarm7 robot and the original robot |
|
| 99 |
+
| `observation.xarm7.ee_pose` | `float32` | `7` | The eef position of xarm7 robot |
|
| 100 |
+
| `observation.xarm7.joints` | `float32` | `8` | The joint position of xarm7 robot |
|
| 101 |
+
| `task_index` | `int64` | `1` | Integer ID of the high-level task this episode/frame belongs to. |
|
| 102 |
+
| `timestamp` | `float32` | `1` | Time stamp of the current frame within the episode (in second). |
|
| 103 |
+
|
| 104 |
+
## Website
|
| 105 |
+
|
| 106 |
+
- Website page: [https://oxe-auge.github.io/](https://oxe-auge.github.io/)
|
| 107 |
+
- Project repository: [https://github.com/GuanhuaJi/oxe-auge](https://github.com/GuanhuaJi/oxe-auge)
|
| 108 |
+
|
| 109 |
+
## Paper
|
| 110 |
+
|
| 111 |
+
- [https://arxiv.org/abs/2308.12952](https://arxiv.org/abs/2308.12952)
|
| 112 |
+
|
| 113 |
+
## Citation Policy
|
| 114 |
+
|
| 115 |
+
If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**.
|
| 116 |
+
|
| 117 |
+
## Upstream Dataset Citation (original dataset)
|
| 118 |
+
|
| 119 |
+
```bibtex
|
| 120 |
+
@article{walke2023bridgedatav2,
|
| 121 |
+
title = {BridgeData V2: A Dataset for Robot Learning at Scale},
|
| 122 |
+
author = {Walke, Homer and Black, Kevin and Lee, Abraham and Kim, Moo Jin and Du, Max and Zheng, Chongyi and Zhao, Tony and Hansen-Estruch, Philippe and Vuong, Quan and He, Andre and Myers, Vivek and Fang, Kuan and Finn, Chelsea and Levine, Sergey},
|
| 123 |
+
journal = {arXiv preprint arXiv:2308.12952},
|
| 124 |
+
year = {2023},
|
| 125 |
+
doi = {10.48550/arXiv.2308.12952},
|
| 126 |
+
url = {https://arxiv.org/abs/2308.12952},
|
| 127 |
+
note = {Version v3, last revised 2024-01-17}
|
| 128 |
+
}
|
| 129 |
+
```
|
| 130 |
+
|
| 131 |
+
## OXE-AugE Dataset Citation (ours)
|
| 132 |
+
|
| 133 |
+
```bibtex
|
| 134 |
+
@misc{
|
| 135 |
+
ji2025oxeaug,
|
| 136 |
+
title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
|
| 137 |
+
author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
|
| 138 |
+
year = {2025},
|
| 139 |
+
note = {Manuscript}
|
| 140 |
+
}
|
| 141 |
+
```
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meta/info.json
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "mixed",
|
| 4 |
+
"total_episodes": 5000,
|
| 5 |
+
"total_frames": 168737,
|
| 6 |
+
"total_tasks": 2629,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 5,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:5000"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"features": {
|
| 15 |
+
"observation.panda.joints": {
|
| 16 |
+
"dtype": "float32",
|
| 17 |
+
"shape": [
|
| 18 |
+
8
|
| 19 |
+
],
|
| 20 |
+
"fps": 5
|
| 21 |
+
},
|
| 22 |
+
"observation.panda.ee_pose": {
|
| 23 |
+
"dtype": "float32",
|
| 24 |
+
"shape": [
|
| 25 |
+
7
|
| 26 |
+
],
|
| 27 |
+
"fps": 5
|
| 28 |
+
},
|
| 29 |
+
"observation.panda.base_position": {
|
| 30 |
+
"dtype": "float32",
|
| 31 |
+
"shape": [
|
| 32 |
+
3
|
| 33 |
+
],
|
| 34 |
+
"fps": 5
|
| 35 |
+
},
|
| 36 |
+
"observation.panda.base_orientation": {
|
| 37 |
+
"dtype": "float32",
|
| 38 |
+
"shape": [
|
| 39 |
+
1
|
| 40 |
+
],
|
| 41 |
+
"fps": 5
|
| 42 |
+
},
|
| 43 |
+
"observation.panda.ee_error": {
|
| 44 |
+
"dtype": "float32",
|
| 45 |
+
"shape": [
|
| 46 |
+
7
|
| 47 |
+
],
|
| 48 |
+
"fps": 5
|
| 49 |
+
},
|
| 50 |
+
"observation.images.panda": {
|
| 51 |
+
"dtype": "video",
|
| 52 |
+
"shape": [
|
| 53 |
+
480,
|
| 54 |
+
640,
|
| 55 |
+
3
|
| 56 |
+
],
|
| 57 |
+
"info": {
|
| 58 |
+
"video.height": 480,
|
| 59 |
+
"video.width": 640,
|
| 60 |
+
"video.codec": "av1",
|
| 61 |
+
"video.pix_fmt": "yuv420p",
|
| 62 |
+
"video.is_depth_map": false,
|
| 63 |
+
"video.fps": 30,
|
| 64 |
+
"video.channels": 3,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"observation.sawyer.joints": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
8
|
| 72 |
+
],
|
| 73 |
+
"fps": 5
|
| 74 |
+
},
|
| 75 |
+
"observation.sawyer.ee_pose": {
|
| 76 |
+
"dtype": "float32",
|
| 77 |
+
"shape": [
|
| 78 |
+
7
|
| 79 |
+
],
|
| 80 |
+
"fps": 5
|
| 81 |
+
},
|
| 82 |
+
"observation.sawyer.base_position": {
|
| 83 |
+
"dtype": "float32",
|
| 84 |
+
"shape": [
|
| 85 |
+
3
|
| 86 |
+
],
|
| 87 |
+
"fps": 5
|
| 88 |
+
},
|
| 89 |
+
"observation.sawyer.base_orientation": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"fps": 5
|
| 95 |
+
},
|
| 96 |
+
"observation.sawyer.ee_error": {
|
| 97 |
+
"dtype": "float32",
|
| 98 |
+
"shape": [
|
| 99 |
+
7
|
| 100 |
+
],
|
| 101 |
+
"fps": 5
|
| 102 |
+
},
|
| 103 |
+
"observation.images.sawyer": {
|
| 104 |
+
"dtype": "video",
|
| 105 |
+
"shape": [
|
| 106 |
+
480,
|
| 107 |
+
640,
|
| 108 |
+
3
|
| 109 |
+
],
|
| 110 |
+
"info": {
|
| 111 |
+
"video.height": 480,
|
| 112 |
+
"video.width": 640,
|
| 113 |
+
"video.codec": "av1",
|
| 114 |
+
"video.pix_fmt": "yuv420p",
|
| 115 |
+
"video.is_depth_map": false,
|
| 116 |
+
"video.fps": 30,
|
| 117 |
+
"video.channels": 3,
|
| 118 |
+
"has_audio": false
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"observation.ur5e.joints": {
|
| 122 |
+
"dtype": "float32",
|
| 123 |
+
"shape": [
|
| 124 |
+
7
|
| 125 |
+
],
|
| 126 |
+
"fps": 5
|
| 127 |
+
},
|
| 128 |
+
"observation.ur5e.ee_pose": {
|
| 129 |
+
"dtype": "float32",
|
| 130 |
+
"shape": [
|
| 131 |
+
7
|
| 132 |
+
],
|
| 133 |
+
"fps": 5
|
| 134 |
+
},
|
| 135 |
+
"observation.ur5e.base_position": {
|
| 136 |
+
"dtype": "float32",
|
| 137 |
+
"shape": [
|
| 138 |
+
3
|
| 139 |
+
],
|
| 140 |
+
"fps": 5
|
| 141 |
+
},
|
| 142 |
+
"observation.ur5e.base_orientation": {
|
| 143 |
+
"dtype": "float32",
|
| 144 |
+
"shape": [
|
| 145 |
+
1
|
| 146 |
+
],
|
| 147 |
+
"fps": 5
|
| 148 |
+
},
|
| 149 |
+
"observation.ur5e.ee_error": {
|
| 150 |
+
"dtype": "float32",
|
| 151 |
+
"shape": [
|
| 152 |
+
7
|
| 153 |
+
],
|
| 154 |
+
"fps": 5
|
| 155 |
+
},
|
| 156 |
+
"observation.images.ur5e": {
|
| 157 |
+
"dtype": "video",
|
| 158 |
+
"shape": [
|
| 159 |
+
480,
|
| 160 |
+
640,
|
| 161 |
+
3
|
| 162 |
+
],
|
| 163 |
+
"info": {
|
| 164 |
+
"video.height": 480,
|
| 165 |
+
"video.width": 640,
|
| 166 |
+
"video.codec": "av1",
|
| 167 |
+
"video.pix_fmt": "yuv420p",
|
| 168 |
+
"video.is_depth_map": false,
|
| 169 |
+
"video.fps": 30,
|
| 170 |
+
"video.channels": 3,
|
| 171 |
+
"has_audio": false
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"observation.google_robot.joints": {
|
| 175 |
+
"dtype": "float32",
|
| 176 |
+
"shape": [
|
| 177 |
+
8
|
| 178 |
+
],
|
| 179 |
+
"fps": 5
|
| 180 |
+
},
|
| 181 |
+
"observation.google_robot.ee_pose": {
|
| 182 |
+
"dtype": "float32",
|
| 183 |
+
"shape": [
|
| 184 |
+
7
|
| 185 |
+
],
|
| 186 |
+
"fps": 5
|
| 187 |
+
},
|
| 188 |
+
"observation.google_robot.base_position": {
|
| 189 |
+
"dtype": "float32",
|
| 190 |
+
"shape": [
|
| 191 |
+
3
|
| 192 |
+
],
|
| 193 |
+
"fps": 5
|
| 194 |
+
},
|
| 195 |
+
"observation.google_robot.base_orientation": {
|
| 196 |
+
"dtype": "float32",
|
| 197 |
+
"shape": [
|
| 198 |
+
1
|
| 199 |
+
],
|
| 200 |
+
"fps": 5
|
| 201 |
+
},
|
| 202 |
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"observation.google_robot.ee_error": {
|
| 203 |
+
"dtype": "float32",
|
| 204 |
+
"shape": [
|
| 205 |
+
7
|
| 206 |
+
],
|
| 207 |
+
"fps": 5
|
| 208 |
+
},
|
| 209 |
+
"observation.images.google_robot": {
|
| 210 |
+
"dtype": "video",
|
| 211 |
+
"shape": [
|
| 212 |
+
480,
|
| 213 |
+
640,
|
| 214 |
+
3
|
| 215 |
+
],
|
| 216 |
+
"info": {
|
| 217 |
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"video.height": 480,
|
| 218 |
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"video.width": 640,
|
| 219 |
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"video.codec": "av1",
|
| 220 |
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"video.pix_fmt": "yuv420p",
|
| 221 |
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"video.is_depth_map": false,
|
| 222 |
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"video.fps": 30,
|
| 223 |
+
"video.channels": 3,
|
| 224 |
+
"has_audio": false
|
| 225 |
+
}
|
| 226 |
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},
|
| 227 |
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"observation.jaco.joints": {
|
| 228 |
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"dtype": "float32",
|
| 229 |
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"shape": [
|
| 230 |
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7
|
| 231 |
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],
|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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"shape": [
|
| 237 |
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meta/stats.json
ADDED
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@@ -0,0 +1,2211 @@
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