Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
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- data/chunk-000/episode_000019.parquet +3 -0
- meta/episodes.jsonl +20 -0
- meta/episodes_stats.jsonl +0 -0
- meta/info.json +278 -0
- meta/modality.json +126 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.ego_view/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.ego_view/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.ego_view/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.ego_view/episode_000003.mp4 +3 -0
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- videos/chunk-000/observation.images.ego_view/episode_000005.mp4 +3 -0
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- videos/chunk-000/observation.images.ego_view/episode_000018.mp4 +3 -0
- videos/chunk-000/observation.images.ego_view/episode_000019.mp4 +3 -0
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"train": "0:20"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.ego_view": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
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|
| 20 |
+
480,
|
| 21 |
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640,
|
| 22 |
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3
|
| 23 |
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|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 480,
|
| 31 |
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"video.width": 640,
|
| 32 |
+
"video.codec": "h264",
|
| 33 |
+
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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}
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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43
|
| 44 |
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],
|
| 45 |
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"names": [
|
| 46 |
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"left_hip_pitch_joint",
|
| 47 |
+
"left_hip_roll_joint",
|
| 48 |
+
"left_hip_yaw_joint",
|
| 49 |
+
"left_knee_joint",
|
| 50 |
+
"left_ankle_pitch_joint",
|
| 51 |
+
"left_ankle_roll_joint",
|
| 52 |
+
"right_hip_pitch_joint",
|
| 53 |
+
"right_hip_roll_joint",
|
| 54 |
+
"right_hip_yaw_joint",
|
| 55 |
+
"right_knee_joint",
|
| 56 |
+
"right_ankle_pitch_joint",
|
| 57 |
+
"right_ankle_roll_joint",
|
| 58 |
+
"waist_yaw_joint",
|
| 59 |
+
"waist_roll_joint",
|
| 60 |
+
"waist_pitch_joint",
|
| 61 |
+
"left_shoulder_pitch_joint",
|
| 62 |
+
"left_shoulder_roll_joint",
|
| 63 |
+
"left_shoulder_yaw_joint",
|
| 64 |
+
"left_elbow_joint",
|
| 65 |
+
"left_wrist_roll_joint",
|
| 66 |
+
"left_wrist_pitch_joint",
|
| 67 |
+
"left_wrist_yaw_joint",
|
| 68 |
+
"left_hand_index_0_joint",
|
| 69 |
+
"left_hand_index_1_joint",
|
| 70 |
+
"left_hand_middle_0_joint",
|
| 71 |
+
"left_hand_middle_1_joint",
|
| 72 |
+
"left_hand_thumb_0_joint",
|
| 73 |
+
"left_hand_thumb_1_joint",
|
| 74 |
+
"left_hand_thumb_2_joint",
|
| 75 |
+
"right_shoulder_pitch_joint",
|
| 76 |
+
"right_shoulder_roll_joint",
|
| 77 |
+
"right_shoulder_yaw_joint",
|
| 78 |
+
"right_elbow_joint",
|
| 79 |
+
"right_wrist_roll_joint",
|
| 80 |
+
"right_wrist_pitch_joint",
|
| 81 |
+
"right_wrist_yaw_joint",
|
| 82 |
+
"right_hand_index_0_joint",
|
| 83 |
+
"right_hand_index_1_joint",
|
| 84 |
+
"right_hand_middle_0_joint",
|
| 85 |
+
"right_hand_middle_1_joint",
|
| 86 |
+
"right_hand_thumb_0_joint",
|
| 87 |
+
"right_hand_thumb_1_joint",
|
| 88 |
+
"right_hand_thumb_2_joint"
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
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"observation.eef_state": {
|
| 92 |
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"dtype": "float64",
|
| 93 |
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"shape": [
|
| 94 |
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14
|
| 95 |
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],
|
| 96 |
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"names": [
|
| 97 |
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"left_wrist_pos",
|
| 98 |
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"left_wrist_abs_quat",
|
| 99 |
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"right_wrist_pos",
|
| 100 |
+
"right_wrist_abs_quat"
|
| 101 |
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]
|
| 102 |
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},
|
| 103 |
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"action": {
|
| 104 |
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"dtype": "float64",
|
| 105 |
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"shape": [
|
| 106 |
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43
|
| 107 |
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],
|
| 108 |
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"names": [
|
| 109 |
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"left_hip_pitch_joint",
|
| 110 |
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"left_hip_roll_joint",
|
| 111 |
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"left_hip_yaw_joint",
|
| 112 |
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"left_knee_joint",
|
| 113 |
+
"left_ankle_pitch_joint",
|
| 114 |
+
"left_ankle_roll_joint",
|
| 115 |
+
"right_hip_pitch_joint",
|
| 116 |
+
"right_hip_roll_joint",
|
| 117 |
+
"right_hip_yaw_joint",
|
| 118 |
+
"right_knee_joint",
|
| 119 |
+
"right_ankle_pitch_joint",
|
| 120 |
+
"right_ankle_roll_joint",
|
| 121 |
+
"waist_yaw_joint",
|
| 122 |
+
"waist_roll_joint",
|
| 123 |
+
"waist_pitch_joint",
|
| 124 |
+
"left_shoulder_pitch_joint",
|
| 125 |
+
"left_shoulder_roll_joint",
|
| 126 |
+
"left_shoulder_yaw_joint",
|
| 127 |
+
"left_elbow_joint",
|
| 128 |
+
"left_wrist_roll_joint",
|
| 129 |
+
"left_wrist_pitch_joint",
|
| 130 |
+
"left_wrist_yaw_joint",
|
| 131 |
+
"left_hand_index_0_joint",
|
| 132 |
+
"left_hand_index_1_joint",
|
| 133 |
+
"left_hand_middle_0_joint",
|
| 134 |
+
"left_hand_middle_1_joint",
|
| 135 |
+
"left_hand_thumb_0_joint",
|
| 136 |
+
"left_hand_thumb_1_joint",
|
| 137 |
+
"left_hand_thumb_2_joint",
|
| 138 |
+
"right_shoulder_pitch_joint",
|
| 139 |
+
"right_shoulder_roll_joint",
|
| 140 |
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"right_shoulder_yaw_joint",
|
| 141 |
+
"right_elbow_joint",
|
| 142 |
+
"right_wrist_roll_joint",
|
| 143 |
+
"right_wrist_pitch_joint",
|
| 144 |
+
"right_wrist_yaw_joint",
|
| 145 |
+
"right_hand_index_0_joint",
|
| 146 |
+
"right_hand_index_1_joint",
|
| 147 |
+
"right_hand_middle_0_joint",
|
| 148 |
+
"right_hand_middle_1_joint",
|
| 149 |
+
"right_hand_thumb_0_joint",
|
| 150 |
+
"right_hand_thumb_1_joint",
|
| 151 |
+
"right_hand_thumb_2_joint"
|
| 152 |
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]
|
| 153 |
+
},
|
| 154 |
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"action.eef": {
|
| 155 |
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"dtype": "float64",
|
| 156 |
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"shape": [
|
| 157 |
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14
|
| 158 |
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],
|
| 159 |
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"names": [
|
| 160 |
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"left_wrist_pos",
|
| 161 |
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"left_wrist_abs_quat",
|
| 162 |
+
"right_wrist_pos",
|
| 163 |
+
"right_wrist_abs_quat"
|
| 164 |
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]
|
| 165 |
+
},
|
| 166 |
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"observation.img_state_delta": {
|
| 167 |
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"dtype": "float32",
|
| 168 |
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"shape": [
|
| 169 |
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1
|
| 170 |
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],
|
| 171 |
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"names": "img_state_delta"
|
| 172 |
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},
|
| 173 |
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"teleop.navigate_command": {
|
| 174 |
+
"dtype": "float64",
|
| 175 |
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"shape": [
|
| 176 |
+
3
|
| 177 |
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],
|
| 178 |
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"names": [
|
| 179 |
+
"lin_vel_x",
|
| 180 |
+
"lin_vel_y",
|
| 181 |
+
"ang_vel_z"
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"teleop.base_height_command": {
|
| 185 |
+
"dtype": "float64",
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"names": "base_height_command"
|
| 190 |
+
},
|
| 191 |
+
"timestamp": {
|
| 192 |
+
"dtype": "float32",
|
| 193 |
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"shape": [
|
| 194 |
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1
|
| 195 |
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],
|
| 196 |
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"names": null
|
| 197 |
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},
|
| 198 |
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"frame_index": {
|
| 199 |
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"dtype": "int64",
|
| 200 |
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"shape": [
|
| 201 |
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1
|
| 202 |
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],
|
| 203 |
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"names": null
|
| 204 |
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},
|
| 205 |
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"episode_index": {
|
| 206 |
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"dtype": "int64",
|
| 207 |
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"shape": [
|
| 208 |
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1
|
| 209 |
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],
|
| 210 |
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"names": null
|
| 211 |
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},
|
| 212 |
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"index": {
|
| 213 |
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"dtype": "int64",
|
| 214 |
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|
| 215 |
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1
|
| 216 |
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],
|
| 217 |
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|
| 218 |
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},
|
| 219 |
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"task_index": {
|
| 220 |
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"dtype": "int64",
|
| 221 |
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"shape": [
|
| 222 |
+
1
|
| 223 |
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],
|
| 224 |
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"names": null
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
"script_config": {
|
| 228 |
+
"wbc_version": "gear_wbc",
|
| 229 |
+
"wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
|
| 230 |
+
"wbc_policy_class": "G1DecoupledWholeBodyPolicy",
|
| 231 |
+
"interface": "enP8p1s0",
|
| 232 |
+
"simulator": "mujoco",
|
| 233 |
+
"sim_sync_mode": false,
|
| 234 |
+
"control_frequency": 50,
|
| 235 |
+
"sim_frequency": 200,
|
| 236 |
+
"robot_variant": "g1_29dof",
|
| 237 |
+
"enable_waist": false,
|
| 238 |
+
"with_hands": false,
|
| 239 |
+
"high_elbow_pose": false,
|
| 240 |
+
"verbose": true,
|
| 241 |
+
"enable_offscreen": false,
|
| 242 |
+
"enable_onscreen": true,
|
| 243 |
+
"upper_body_joint_speed": 1000,
|
| 244 |
+
"env_name": "default",
|
| 245 |
+
"ik_indicator": false,
|
| 246 |
+
"verbose_timing": false,
|
| 247 |
+
"debug_lowlevel_io": false,
|
| 248 |
+
"joint_safety_enabled": false,
|
| 249 |
+
"keyboard_dispatcher_type": "raw",
|
| 250 |
+
"enable_gravity_compensation": false,
|
| 251 |
+
"gravity_compensation_joints": null,
|
| 252 |
+
"body_control_device": "dummy",
|
| 253 |
+
"hand_control_device": "dummy",
|
| 254 |
+
"body_streamer_ip": "10.112.210.229",
|
| 255 |
+
"body_streamer_keyword": "knee",
|
| 256 |
+
"enable_visualization": false,
|
| 257 |
+
"enable_real_device": true,
|
| 258 |
+
"teleop_frequency": 20,
|
| 259 |
+
"teleop_replay_path": null,
|
| 260 |
+
"robot_ip": "192.168.123.164",
|
| 261 |
+
"data_collection": true,
|
| 262 |
+
"data_collection_frequency": 20,
|
| 263 |
+
"root_output_dir": "outputs",
|
| 264 |
+
"enable_upper_body_operation": true,
|
| 265 |
+
"upper_body_operation_mode": "teleop",
|
| 266 |
+
"zmq_control_goal_host": "192.168.123.222",
|
| 267 |
+
"zmq_control_goal_port": 5556
|
| 268 |
+
},
|
| 269 |
+
"discarded_episode_indices": [],
|
| 270 |
+
"data_collection_info": {
|
| 271 |
+
"lower_body_policy": "gear_wbc",
|
| 272 |
+
"wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
|
| 273 |
+
"teleoperator_username": "NEW_USER",
|
| 274 |
+
"support_operator_username": "NEW_USER",
|
| 275 |
+
"robot_type": "g1",
|
| 276 |
+
"robot_id": "sim"
|
| 277 |
+
}
|
| 278 |
+
}
|
meta/modality.json
ADDED
|
@@ -0,0 +1,126 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_leg": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 6
|
| 6 |
+
},
|
| 7 |
+
"right_leg": {
|
| 8 |
+
"start": 6,
|
| 9 |
+
"end": 12
|
| 10 |
+
},
|
| 11 |
+
"waist": {
|
| 12 |
+
"start": 12,
|
| 13 |
+
"end": 15
|
| 14 |
+
},
|
| 15 |
+
"left_arm": {
|
| 16 |
+
"start": 15,
|
| 17 |
+
"end": 22
|
| 18 |
+
},
|
| 19 |
+
"left_hand": {
|
| 20 |
+
"start": 22,
|
| 21 |
+
"end": 29
|
| 22 |
+
},
|
| 23 |
+
"right_arm": {
|
| 24 |
+
"start": 29,
|
| 25 |
+
"end": 36
|
| 26 |
+
},
|
| 27 |
+
"right_hand": {
|
| 28 |
+
"start": 36,
|
| 29 |
+
"end": 43
|
| 30 |
+
},
|
| 31 |
+
"left_wrist_pos": {
|
| 32 |
+
"start": 0,
|
| 33 |
+
"end": 3,
|
| 34 |
+
"original_key": "observation.eef_state"
|
| 35 |
+
},
|
| 36 |
+
"left_wrist_abs_quat": {
|
| 37 |
+
"start": 3,
|
| 38 |
+
"end": 7,
|
| 39 |
+
"original_key": "observation.eef_state",
|
| 40 |
+
"rotation_type": "quaternion"
|
| 41 |
+
},
|
| 42 |
+
"right_wrist_pos": {
|
| 43 |
+
"start": 7,
|
| 44 |
+
"end": 10,
|
| 45 |
+
"original_key": "observation.eef_state"
|
| 46 |
+
},
|
| 47 |
+
"right_wrist_abs_quat": {
|
| 48 |
+
"start": 10,
|
| 49 |
+
"end": 14,
|
| 50 |
+
"original_key": "observation.eef_state",
|
| 51 |
+
"rotation_type": "quaternion"
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"action": {
|
| 55 |
+
"left_leg": {
|
| 56 |
+
"start": 0,
|
| 57 |
+
"end": 6
|
| 58 |
+
},
|
| 59 |
+
"right_leg": {
|
| 60 |
+
"start": 6,
|
| 61 |
+
"end": 12
|
| 62 |
+
},
|
| 63 |
+
"waist": {
|
| 64 |
+
"start": 12,
|
| 65 |
+
"end": 15
|
| 66 |
+
},
|
| 67 |
+
"left_arm": {
|
| 68 |
+
"start": 15,
|
| 69 |
+
"end": 22
|
| 70 |
+
},
|
| 71 |
+
"left_hand": {
|
| 72 |
+
"start": 22,
|
| 73 |
+
"end": 29
|
| 74 |
+
},
|
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
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|
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|
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
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|
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|
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
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|
| 124 |
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|
| 125 |
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meta/tasks.jsonl
ADDED
|
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{"task_index": 0, "task": "open the door."}
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