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- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
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- data/chunk-000/episode_000021.parquet +3 -0
- data/chunk-000/episode_000022.parquet +3 -0
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- data/chunk-000/episode_000024.parquet +3 -0
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- meta/modality.json +182 -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
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- videos/chunk-000/observation.images.ego_view/episode_000003.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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meta/episodes_stats.jsonl
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meta/info.json
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": null,
|
| 4 |
+
"total_episodes": 25,
|
| 5 |
+
"total_frames": 11830,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 25,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 50,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:25"
|
| 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 |
+
"shape": [
|
| 20 |
+
480,
|
| 21 |
+
640,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 480,
|
| 31 |
+
"video.width": 640,
|
| 32 |
+
"video.codec": "h264",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 50,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"observation.state": {
|
| 41 |
+
"dtype": "float64",
|
| 42 |
+
"shape": [
|
| 43 |
+
43
|
| 44 |
+
],
|
| 45 |
+
"names": [
|
| 46 |
+
"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 |
+
"observation.eef_state": {
|
| 92 |
+
"dtype": "float64",
|
| 93 |
+
"shape": [
|
| 94 |
+
14
|
| 95 |
+
],
|
| 96 |
+
"names": [
|
| 97 |
+
"left_wrist_pos",
|
| 98 |
+
"left_wrist_abs_quat",
|
| 99 |
+
"right_wrist_pos",
|
| 100 |
+
"right_wrist_abs_quat"
|
| 101 |
+
]
|
| 102 |
+
},
|
| 103 |
+
"action.wbc": {
|
| 104 |
+
"dtype": "float64",
|
| 105 |
+
"shape": [
|
| 106 |
+
43
|
| 107 |
+
],
|
| 108 |
+
"names": [
|
| 109 |
+
"left_hip_pitch_joint",
|
| 110 |
+
"left_hip_roll_joint",
|
| 111 |
+
"left_hip_yaw_joint",
|
| 112 |
+
"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 |
+
"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 |
+
]
|
| 153 |
+
},
|
| 154 |
+
"observation.root_orientation": {
|
| 155 |
+
"dtype": "float64",
|
| 156 |
+
"shape": [
|
| 157 |
+
4
|
| 158 |
+
],
|
| 159 |
+
"names": [
|
| 160 |
+
"base_qw",
|
| 161 |
+
"base_qx",
|
| 162 |
+
"base_qy",
|
| 163 |
+
"base_qz"
|
| 164 |
+
]
|
| 165 |
+
},
|
| 166 |
+
"observation.projected_gravity": {
|
| 167 |
+
"dtype": "float64",
|
| 168 |
+
"shape": [
|
| 169 |
+
3
|
| 170 |
+
],
|
| 171 |
+
"names": [
|
| 172 |
+
"gravity_x",
|
| 173 |
+
"gravity_y",
|
| 174 |
+
"gravity_z"
|
| 175 |
+
]
|
| 176 |
+
},
|
| 177 |
+
"observation.cpp_rotation_offset": {
|
| 178 |
+
"dtype": "float64",
|
| 179 |
+
"shape": [
|
| 180 |
+
4
|
| 181 |
+
],
|
| 182 |
+
"names": [
|
| 183 |
+
"rot_offset_qw",
|
| 184 |
+
"rot_offset_qx",
|
| 185 |
+
"rot_offset_qy",
|
| 186 |
+
"rot_offset_qz"
|
| 187 |
+
]
|
| 188 |
+
},
|
| 189 |
+
"observation.init_base_quat": {
|
| 190 |
+
"dtype": "float64",
|
| 191 |
+
"shape": [
|
| 192 |
+
4
|
| 193 |
+
],
|
| 194 |
+
"names": [
|
| 195 |
+
"init_base_qw",
|
| 196 |
+
"init_base_qx",
|
| 197 |
+
"init_base_qy",
|
| 198 |
+
"init_base_qz"
|
| 199 |
+
]
|
| 200 |
+
},
|
| 201 |
+
"teleop.delta_heading": {
|
| 202 |
+
"dtype": "float64",
|
| 203 |
+
"shape": [
|
| 204 |
+
1
|
| 205 |
+
],
|
| 206 |
+
"names": [
|
| 207 |
+
"delta_heading"
|
| 208 |
+
]
|
| 209 |
+
},
|
| 210 |
+
"action.motion_token": {
|
| 211 |
+
"dtype": "float64",
|
| 212 |
+
"shape": [
|
| 213 |
+
64
|
| 214 |
+
],
|
| 215 |
+
"names": "motion_token"
|
| 216 |
+
},
|
| 217 |
+
"teleop.smpl_joints": {
|
| 218 |
+
"dtype": "float32",
|
| 219 |
+
"shape": [
|
| 220 |
+
72
|
| 221 |
+
],
|
| 222 |
+
"names": "smpl_joints"
|
| 223 |
+
},
|
| 224 |
+
"teleop.smpl_pose": {
|
| 225 |
+
"dtype": "float32",
|
| 226 |
+
"shape": [
|
| 227 |
+
63
|
| 228 |
+
],
|
| 229 |
+
"names": "smpl_pose"
|
| 230 |
+
},
|
| 231 |
+
"teleop.body_quat_w": {
|
| 232 |
+
"dtype": "float32",
|
| 233 |
+
"shape": [
|
| 234 |
+
4
|
| 235 |
+
],
|
| 236 |
+
"names": "body_quat_w"
|
| 237 |
+
},
|
| 238 |
+
"teleop.target_body_orientation": {
|
| 239 |
+
"dtype": "float32",
|
| 240 |
+
"shape": [
|
| 241 |
+
6
|
| 242 |
+
],
|
| 243 |
+
"names": [
|
| 244 |
+
"target_body_r00",
|
| 245 |
+
"target_body_r10",
|
| 246 |
+
"target_body_r01",
|
| 247 |
+
"target_body_r11",
|
| 248 |
+
"target_body_r02",
|
| 249 |
+
"target_body_r12"
|
| 250 |
+
]
|
| 251 |
+
},
|
| 252 |
+
"teleop.left_hand_joints": {
|
| 253 |
+
"dtype": "float32",
|
| 254 |
+
"shape": [
|
| 255 |
+
7
|
| 256 |
+
],
|
| 257 |
+
"names": "left_hand_joints"
|
| 258 |
+
},
|
| 259 |
+
"teleop.right_hand_joints": {
|
| 260 |
+
"dtype": "float32",
|
| 261 |
+
"shape": [
|
| 262 |
+
7
|
| 263 |
+
],
|
| 264 |
+
"names": "right_hand_joints"
|
| 265 |
+
},
|
| 266 |
+
"teleop.smpl_frame_index": {
|
| 267 |
+
"dtype": "int64",
|
| 268 |
+
"shape": [
|
| 269 |
+
1
|
| 270 |
+
],
|
| 271 |
+
"names": [
|
| 272 |
+
"smpl_frame_index"
|
| 273 |
+
]
|
| 274 |
+
},
|
| 275 |
+
"teleop.left_wrist_joints": {
|
| 276 |
+
"dtype": "float32",
|
| 277 |
+
"shape": [
|
| 278 |
+
3
|
| 279 |
+
],
|
| 280 |
+
"names": [
|
| 281 |
+
"left_wrist_roll",
|
| 282 |
+
"left_wrist_pitch",
|
| 283 |
+
"left_wrist_yaw"
|
| 284 |
+
]
|
| 285 |
+
},
|
| 286 |
+
"teleop.right_wrist_joints": {
|
| 287 |
+
"dtype": "float32",
|
| 288 |
+
"shape": [
|
| 289 |
+
3
|
| 290 |
+
],
|
| 291 |
+
"names": [
|
| 292 |
+
"right_wrist_roll",
|
| 293 |
+
"right_wrist_pitch",
|
| 294 |
+
"right_wrist_yaw"
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
"teleop.stream_mode": {
|
| 298 |
+
"dtype": "int32",
|
| 299 |
+
"shape": [
|
| 300 |
+
1
|
| 301 |
+
],
|
| 302 |
+
"names": [
|
| 303 |
+
"stream_mode"
|
| 304 |
+
]
|
| 305 |
+
},
|
| 306 |
+
"teleop.planner_mode": {
|
| 307 |
+
"dtype": "int32",
|
| 308 |
+
"shape": [
|
| 309 |
+
1
|
| 310 |
+
],
|
| 311 |
+
"names": [
|
| 312 |
+
"locomotion_mode"
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
"teleop.planner_movement": {
|
| 316 |
+
"dtype": "float32",
|
| 317 |
+
"shape": [
|
| 318 |
+
3
|
| 319 |
+
],
|
| 320 |
+
"names": [
|
| 321 |
+
"movement_x",
|
| 322 |
+
"movement_y",
|
| 323 |
+
"movement_z"
|
| 324 |
+
]
|
| 325 |
+
},
|
| 326 |
+
"teleop.planner_facing": {
|
| 327 |
+
"dtype": "float32",
|
| 328 |
+
"shape": [
|
| 329 |
+
3
|
| 330 |
+
],
|
| 331 |
+
"names": [
|
| 332 |
+
"facing_x",
|
| 333 |
+
"facing_y",
|
| 334 |
+
"facing_z"
|
| 335 |
+
]
|
| 336 |
+
},
|
| 337 |
+
"teleop.planner_speed": {
|
| 338 |
+
"dtype": "float32",
|
| 339 |
+
"shape": [
|
| 340 |
+
1
|
| 341 |
+
],
|
| 342 |
+
"names": [
|
| 343 |
+
"speed"
|
| 344 |
+
]
|
| 345 |
+
},
|
| 346 |
+
"teleop.planner_height": {
|
| 347 |
+
"dtype": "float32",
|
| 348 |
+
"shape": [
|
| 349 |
+
1
|
| 350 |
+
],
|
| 351 |
+
"names": [
|
| 352 |
+
"height"
|
| 353 |
+
]
|
| 354 |
+
},
|
| 355 |
+
"teleop.vr_3pt_position": {
|
| 356 |
+
"dtype": "float32",
|
| 357 |
+
"shape": [
|
| 358 |
+
9
|
| 359 |
+
],
|
| 360 |
+
"names": [
|
| 361 |
+
"lwrist_x",
|
| 362 |
+
"lwrist_y",
|
| 363 |
+
"lwrist_z",
|
| 364 |
+
"rwrist_x",
|
| 365 |
+
"rwrist_y",
|
| 366 |
+
"rwrist_z",
|
| 367 |
+
"neck_x",
|
| 368 |
+
"neck_y",
|
| 369 |
+
"neck_z"
|
| 370 |
+
]
|
| 371 |
+
},
|
| 372 |
+
"teleop.vr_3pt_orientation": {
|
| 373 |
+
"dtype": "float32",
|
| 374 |
+
"shape": [
|
| 375 |
+
18
|
| 376 |
+
],
|
| 377 |
+
"names": [
|
| 378 |
+
"lwrist_r00",
|
| 379 |
+
"lwrist_r10",
|
| 380 |
+
"lwrist_r01",
|
| 381 |
+
"lwrist_r11",
|
| 382 |
+
"lwrist_r02",
|
| 383 |
+
"lwrist_r12",
|
| 384 |
+
"rwrist_r00",
|
| 385 |
+
"rwrist_r10",
|
| 386 |
+
"rwrist_r01",
|
| 387 |
+
"rwrist_r11",
|
| 388 |
+
"rwrist_r02",
|
| 389 |
+
"rwrist_r12",
|
| 390 |
+
"neck_r00",
|
| 391 |
+
"neck_r10",
|
| 392 |
+
"neck_r01",
|
| 393 |
+
"neck_r11",
|
| 394 |
+
"neck_r02",
|
| 395 |
+
"neck_r12"
|
| 396 |
+
]
|
| 397 |
+
},
|
| 398 |
+
"timestamp": {
|
| 399 |
+
"dtype": "float32",
|
| 400 |
+
"shape": [
|
| 401 |
+
1
|
| 402 |
+
],
|
| 403 |
+
"names": null
|
| 404 |
+
},
|
| 405 |
+
"frame_index": {
|
| 406 |
+
"dtype": "int64",
|
| 407 |
+
"shape": [
|
| 408 |
+
1
|
| 409 |
+
],
|
| 410 |
+
"names": null
|
| 411 |
+
},
|
| 412 |
+
"episode_index": {
|
| 413 |
+
"dtype": "int64",
|
| 414 |
+
"shape": [
|
| 415 |
+
1
|
| 416 |
+
],
|
| 417 |
+
"names": null
|
| 418 |
+
},
|
| 419 |
+
"index": {
|
| 420 |
+
"dtype": "int64",
|
| 421 |
+
"shape": [
|
| 422 |
+
1
|
| 423 |
+
],
|
| 424 |
+
"names": null
|
| 425 |
+
},
|
| 426 |
+
"task_index": {
|
| 427 |
+
"dtype": "int64",
|
| 428 |
+
"shape": [
|
| 429 |
+
1
|
| 430 |
+
],
|
| 431 |
+
"names": null
|
| 432 |
+
}
|
| 433 |
+
},
|
| 434 |
+
"script_config": {
|
| 435 |
+
"control_frequency": 50.0,
|
| 436 |
+
"encoder_file": "policy/release/model_encoder.onnx",
|
| 437 |
+
"is_using_encoder": true,
|
| 438 |
+
"model_path": "policy/release/model_decoder.onnx",
|
| 439 |
+
"obs_config_path": "policy/release/observation_config.yaml",
|
| 440 |
+
"planner_fp16": false,
|
| 441 |
+
"planner_frequency": 10.0,
|
| 442 |
+
"planner_path": "planner/target_vel/V2/planner_sonic.onnx",
|
| 443 |
+
"policy_fp16": false,
|
| 444 |
+
"reference_motion_path": "reference/example/",
|
| 445 |
+
"record_wrist_cameras": false
|
| 446 |
+
},
|
| 447 |
+
"discarded_episode_indices": [
|
| 448 |
+
4,
|
| 449 |
+
6,
|
| 450 |
+
7,
|
| 451 |
+
17
|
| 452 |
+
]
|
| 453 |
+
}
|
meta/modality.json
ADDED
|
@@ -0,0 +1,182 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
"root_orientation": {
|
| 54 |
+
"start": 0,
|
| 55 |
+
"end": 4,
|
| 56 |
+
"original_key": "observation.root_orientation",
|
| 57 |
+
"rotation_type": "quaternion"
|
| 58 |
+
},
|
| 59 |
+
"projected_gravity": {
|
| 60 |
+
"start": 0,
|
| 61 |
+
"end": 3,
|
| 62 |
+
"original_key": "observation.projected_gravity"
|
| 63 |
+
},
|
| 64 |
+
"cpp_rotation_offset": {
|
| 65 |
+
"start": 0,
|
| 66 |
+
"end": 4,
|
| 67 |
+
"original_key": "observation.cpp_rotation_offset",
|
| 68 |
+
"rotation_type": "quaternion"
|
| 69 |
+
},
|
| 70 |
+
"init_base_quat": {
|
| 71 |
+
"start": 0,
|
| 72 |
+
"end": 4,
|
| 73 |
+
"original_key": "observation.init_base_quat",
|
| 74 |
+
"rotation_type": "quaternion"
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"action": {
|
| 78 |
+
"delta_heading": {
|
| 79 |
+
"start": 0,
|
| 80 |
+
"end": 1,
|
| 81 |
+
"original_key": "teleop.delta_heading"
|
| 82 |
+
},
|
| 83 |
+
"motion_token": {
|
| 84 |
+
"start": 0,
|
| 85 |
+
"end": 64,
|
| 86 |
+
"original_key": "action.motion_token"
|
| 87 |
+
},
|
| 88 |
+
"smpl_joints": {
|
| 89 |
+
"start": 0,
|
| 90 |
+
"end": 72,
|
| 91 |
+
"original_key": "teleop.smpl_joints"
|
| 92 |
+
},
|
| 93 |
+
"smpl_pose": {
|
| 94 |
+
"start": 0,
|
| 95 |
+
"end": 63,
|
| 96 |
+
"original_key": "teleop.smpl_pose"
|
| 97 |
+
},
|
| 98 |
+
"body_quat_w": {
|
| 99 |
+
"start": 0,
|
| 100 |
+
"end": 4,
|
| 101 |
+
"original_key": "teleop.body_quat_w",
|
| 102 |
+
"rotation_type": "quaternion"
|
| 103 |
+
},
|
| 104 |
+
"target_body_orientation": {
|
| 105 |
+
"start": 0,
|
| 106 |
+
"end": 6,
|
| 107 |
+
"original_key": "teleop.target_body_orientation",
|
| 108 |
+
"rotation_type": "rotation_6d"
|
| 109 |
+
},
|
| 110 |
+
"left_hand_joints": {
|
| 111 |
+
"start": 0,
|
| 112 |
+
"end": 7,
|
| 113 |
+
"original_key": "teleop.left_hand_joints"
|
| 114 |
+
},
|
| 115 |
+
"right_hand_joints": {
|
| 116 |
+
"start": 0,
|
| 117 |
+
"end": 7,
|
| 118 |
+
"original_key": "teleop.right_hand_joints"
|
| 119 |
+
},
|
| 120 |
+
"left_wrist_joints": {
|
| 121 |
+
"start": 0,
|
| 122 |
+
"end": 3,
|
| 123 |
+
"original_key": "teleop.left_wrist_joints"
|
| 124 |
+
},
|
| 125 |
+
"right_wrist_joints": {
|
| 126 |
+
"start": 0,
|
| 127 |
+
"end": 3,
|
| 128 |
+
"original_key": "teleop.right_wrist_joints"
|
| 129 |
+
},
|
| 130 |
+
"stream_mode": {
|
| 131 |
+
"start": 0,
|
| 132 |
+
"end": 1,
|
| 133 |
+
"original_key": "teleop.stream_mode"
|
| 134 |
+
},
|
| 135 |
+
"planner_mode": {
|
| 136 |
+
"start": 0,
|
| 137 |
+
"end": 1,
|
| 138 |
+
"original_key": "teleop.planner_mode"
|
| 139 |
+
},
|
| 140 |
+
"planner_movement": {
|
| 141 |
+
"start": 0,
|
| 142 |
+
"end": 3,
|
| 143 |
+
"original_key": "teleop.planner_movement"
|
| 144 |
+
},
|
| 145 |
+
"planner_facing": {
|
| 146 |
+
"start": 0,
|
| 147 |
+
"end": 3,
|
| 148 |
+
"original_key": "teleop.planner_facing"
|
| 149 |
+
},
|
| 150 |
+
"planner_speed": {
|
| 151 |
+
"start": 0,
|
| 152 |
+
"end": 1,
|
| 153 |
+
"original_key": "teleop.planner_speed"
|
| 154 |
+
},
|
| 155 |
+
"planner_height": {
|
| 156 |
+
"start": 0,
|
| 157 |
+
"end": 1,
|
| 158 |
+
"original_key": "teleop.planner_height"
|
| 159 |
+
},
|
| 160 |
+
"vr_3pt_position": {
|
| 161 |
+
"start": 0,
|
| 162 |
+
"end": 9,
|
| 163 |
+
"original_key": "teleop.vr_3pt_position"
|
| 164 |
+
},
|
| 165 |
+
"vr_3pt_orientation": {
|
| 166 |
+
"start": 0,
|
| 167 |
+
"end": 18,
|
| 168 |
+
"original_key": "teleop.vr_3pt_orientation",
|
| 169 |
+
"rotation_type": "rotation_6d"
|
| 170 |
+
}
|
| 171 |
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|
| 172 |
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"video": {
|
| 173 |
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"ego_view": {
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
+
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|
| 181 |
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|
| 182 |
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|
meta/tasks.jsonl
ADDED
|
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|
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{"task_index": 0, "task": "Push the block to the left."}
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ADDED
|
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