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|
| 90 |
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{"episode_index": 89, "tasks": ["mount camera"], "length": 810}
|
| 91 |
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{"episode_index": 90, "tasks": ["mount camera"], "length": 787}
|
| 92 |
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{"episode_index": 91, "tasks": ["mount camera"], "length": 867}
|
| 93 |
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{"episode_index": 92, "tasks": ["mount camera"], "length": 699}
|
| 94 |
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{"episode_index": 93, "tasks": ["mount camera"], "length": 718}
|
| 95 |
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{"episode_index": 94, "tasks": ["mount camera"], "length": 791}
|
| 96 |
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{"episode_index": 95, "tasks": ["mount camera"], "length": 691}
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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{"episode_index": 102, "tasks": ["mount camera"], "length": 705}
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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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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|
| 117 |
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|
| 118 |
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{"episode_index": 117, "tasks": ["mount camera"], "length": 852}
|
| 119 |
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{"episode_index": 118, "tasks": ["mount camera"], "length": 664}
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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{"episode_index": 123, "tasks": ["mount camera"], "length": 612}
|
| 125 |
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|
| 126 |
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{"episode_index": 125, "tasks": ["mount camera"], "length": 801}
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{"episode_index": 140, "tasks": ["mount camera"], "length": 668}
|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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{"episode_index": 170, "tasks": ["mount camera"], "length": 1179}
|
| 172 |
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{"episode_index": 171, "tasks": ["mount camera"], "length": 1333}
|
| 173 |
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{"episode_index": 172, "tasks": ["mount camera"], "length": 789}
|
| 174 |
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{"episode_index": 173, "tasks": ["mount camera"], "length": 919}
|
| 175 |
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{"episode_index": 174, "tasks": ["mount camera"], "length": 882}
|
| 176 |
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{"episode_index": 175, "tasks": ["mount camera"], "length": 1000}
|
| 177 |
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{"episode_index": 176, "tasks": ["mount camera"], "length": 769}
|
| 178 |
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{"episode_index": 177, "tasks": ["mount camera"], "length": 650}
|
| 179 |
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|
| 180 |
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{"episode_index": 179, "tasks": ["mount camera"], "length": 709}
|
| 181 |
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|
| 182 |
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{"episode_index": 181, "tasks": ["mount camera"], "length": 894}
|
| 183 |
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{"episode_index": 182, "tasks": ["mount camera"], "length": 667}
|
| 184 |
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{"episode_index": 183, "tasks": ["mount camera"], "length": 721}
|
| 185 |
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{"episode_index": 184, "tasks": ["mount camera"], "length": 742}
|
| 186 |
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|
| 187 |
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{"episode_index": 186, "tasks": ["mount camera"], "length": 744}
|
| 188 |
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{"episode_index": 187, "tasks": ["mount camera"], "length": 848}
|
| 189 |
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{"episode_index": 188, "tasks": ["mount camera"], "length": 747}
|
| 190 |
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{"episode_index": 189, "tasks": ["mount camera"], "length": 1010}
|
| 191 |
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{"episode_index": 190, "tasks": ["mount camera"], "length": 653}
|
| 192 |
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{"episode_index": 191, "tasks": ["mount camera"], "length": 693}
|
| 193 |
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{"episode_index": 192, "tasks": ["mount camera"], "length": 727}
|
| 194 |
+
{"episode_index": 193, "tasks": ["mount camera"], "length": 1077}
|
| 195 |
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{"episode_index": 194, "tasks": ["mount camera"], "length": 690}
|
| 196 |
+
{"episode_index": 195, "tasks": ["mount camera"], "length": 679}
|
| 197 |
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{"episode_index": 196, "tasks": ["mount camera"], "length": 655}
|
| 198 |
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|
| 199 |
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{"episode_index": 198, "tasks": ["mount camera"], "length": 659}
|
| 200 |
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{"episode_index": 199, "tasks": ["mount camera"], "length": 626}
|
| 201 |
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{"episode_index": 200, "tasks": ["mount camera"], "length": 612}
|
meta/episodes_stats.jsonl
ADDED
|
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|
|
|
meta/info.json
ADDED
|
@@ -0,0 +1,197 @@
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "Unitree_G1_Gripper",
|
| 4 |
+
"total_episodes": 201,
|
| 5 |
+
"total_frames": 172649,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 804,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:201"
|
| 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.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
16
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
[
|
| 24 |
+
"kLeftShoulderPitch",
|
| 25 |
+
"kLeftShoulderRoll",
|
| 26 |
+
"kLeftShoulderYaw",
|
| 27 |
+
"kLeftElbow",
|
| 28 |
+
"kLeftWristRoll",
|
| 29 |
+
"kLeftWristPitch",
|
| 30 |
+
"kLeftWristYaw",
|
| 31 |
+
"kRightShoulderPitch",
|
| 32 |
+
"kRightShoulderRoll",
|
| 33 |
+
"kRightShoulderYaw",
|
| 34 |
+
"kRightElbow",
|
| 35 |
+
"kRightWristRoll",
|
| 36 |
+
"kRightWristPitch",
|
| 37 |
+
"kRightWristYaw",
|
| 38 |
+
"kLeftGripper",
|
| 39 |
+
"kRightGripper"
|
| 40 |
+
]
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"action": {
|
| 44 |
+
"dtype": "float32",
|
| 45 |
+
"shape": [
|
| 46 |
+
16
|
| 47 |
+
],
|
| 48 |
+
"names": [
|
| 49 |
+
[
|
| 50 |
+
"kLeftShoulderPitch",
|
| 51 |
+
"kLeftShoulderRoll",
|
| 52 |
+
"kLeftShoulderYaw",
|
| 53 |
+
"kLeftElbow",
|
| 54 |
+
"kLeftWristRoll",
|
| 55 |
+
"kLeftWristPitch",
|
| 56 |
+
"kLeftWristYaw",
|
| 57 |
+
"kRightShoulderPitch",
|
| 58 |
+
"kRightShoulderRoll",
|
| 59 |
+
"kRightShoulderYaw",
|
| 60 |
+
"kRightElbow",
|
| 61 |
+
"kRightWristRoll",
|
| 62 |
+
"kRightWristPitch",
|
| 63 |
+
"kRightWristYaw",
|
| 64 |
+
"kLeftGripper",
|
| 65 |
+
"kRightGripper"
|
| 66 |
+
]
|
| 67 |
+
]
|
| 68 |
+
},
|
| 69 |
+
"observation.images.cam_left_high": {
|
| 70 |
+
"dtype": "video",
|
| 71 |
+
"shape": [
|
| 72 |
+
3,
|
| 73 |
+
480,
|
| 74 |
+
640
|
| 75 |
+
],
|
| 76 |
+
"names": [
|
| 77 |
+
"channels",
|
| 78 |
+
"height",
|
| 79 |
+
"width"
|
| 80 |
+
],
|
| 81 |
+
"info": {
|
| 82 |
+
"video.fps": 30.0,
|
| 83 |
+
"video.height": 480,
|
| 84 |
+
"video.width": 640,
|
| 85 |
+
"video.channels": 3,
|
| 86 |
+
"video.codec": "av1",
|
| 87 |
+
"video.pix_fmt": "yuv420p",
|
| 88 |
+
"video.is_depth_map": false,
|
| 89 |
+
"has_audio": false
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"observation.images.cam_right_high": {
|
| 93 |
+
"dtype": "video",
|
| 94 |
+
"shape": [
|
| 95 |
+
3,
|
| 96 |
+
480,
|
| 97 |
+
640
|
| 98 |
+
],
|
| 99 |
+
"names": [
|
| 100 |
+
"channels",
|
| 101 |
+
"height",
|
| 102 |
+
"width"
|
| 103 |
+
],
|
| 104 |
+
"info": {
|
| 105 |
+
"video.fps": 30.0,
|
| 106 |
+
"video.height": 480,
|
| 107 |
+
"video.width": 640,
|
| 108 |
+
"video.channels": 3,
|
| 109 |
+
"video.codec": "av1",
|
| 110 |
+
"video.pix_fmt": "yuv420p",
|
| 111 |
+
"video.is_depth_map": false,
|
| 112 |
+
"has_audio": false
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"observation.images.cam_left_wrist": {
|
| 116 |
+
"dtype": "video",
|
| 117 |
+
"shape": [
|
| 118 |
+
3,
|
| 119 |
+
480,
|
| 120 |
+
640
|
| 121 |
+
],
|
| 122 |
+
"names": [
|
| 123 |
+
"channels",
|
| 124 |
+
"height",
|
| 125 |
+
"width"
|
| 126 |
+
],
|
| 127 |
+
"info": {
|
| 128 |
+
"video.fps": 30.0,
|
| 129 |
+
"video.height": 480,
|
| 130 |
+
"video.width": 640,
|
| 131 |
+
"video.channels": 3,
|
| 132 |
+
"video.codec": "av1",
|
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