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arx_cot_source.json

@@ -0,0 +1,63 @@
+{
+  "raw_root": "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box",
+  "raw_schema_version": "arx-cot-raw/v2",
+  "source_episodes": [
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000000",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000001",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000002",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000003",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000004",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000005",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000006",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000007",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000008",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000009",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000010",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000011",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000012",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000013",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000014",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000015",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000016",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000017",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000018",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000019",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000020",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000021",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000022",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000023",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000024",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000025",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000026",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000027",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000028",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000029",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000030",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000031",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000032",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000033",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000034",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000035",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000036",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000037",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000038",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000039",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000040",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000041",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000042",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000043",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000044",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000045",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000046",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000047",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000048",
+    "/home/arx/Arx_Lift2s/Collect/episodes_raw/arx_cot_box/episode_000049"
+  ],
+  "camera_names": [
+    "camera_h",
+    "camera_l",
+    "camera_r"
+  ],
+  "frame_rate": 20.0,
+  "action_kind": "joint"
+}

calibration/camera_h_intrinsics.json

@@ -0,0 +1,14 @@
+{
+  "camera_matrix": [
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+}

calibration/camera_h_to_left_ref.json

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+{
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+  "side": "left",
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+}

calibration/camera_h_to_right_ref.json

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+{
+  "camera_label": "cam_h",
+  "side": "right",
+  "R_cam2ref": [
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+}

calibration/manifest.json

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+{
+  "camera": "camera_h",
+  "sha256": {
+    "camera_h_intrinsics": "d9591ea9ee947a5a824bd8866ffcd2b1e46246ec622a6f034982596b8a9aab65",
+    "camera_h_to_left_ref": "4d1bfcba9a282e9107c872156451b5cc366a93fe5ed0627ba735ebab9f7d598c",
+    "camera_h_to_right_ref": "388c9a2915cd7f2afb1d15634482bdea7cab19cee498191133d19c1dae8156bf"
+  },
+  "note": "Static 640x480 calibration copied from raw collection."
+}

camera/chunk-000/episode_000008.npz

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+oid sha256:c3311988c9d26c1dfbebf553ab70b32b34a1913a0f9eced0e5a4ae47bb1eec5c
+size 1812

camera/chunk-000/episode_000017.npz

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+size 1800

depth/chunk-000/observation.depth.camera_r_m/episode_000005.npz

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Put all the toys into the red box and close the box."], "length": 1138, "videos": {"observation.images.camera_h": "videos/chunk-000/observation.images.camera_h/episode_000000.mp4", "observation.images.camera_l": "videos/chunk-000/observation.images.camera_l/episode_000000.mp4", "observation.images.camera_r": "videos/chunk-000/observation.images.camera_r/episode_000000.mp4"}, "tcp_offset_wrist_m_by_hand": {"left": [0.15, 0.0, 0.0], "right": [0.15, 0.0, 0.0]}}
+{"episode_index": 1, "tasks": ["Put all the toys into the red box and close the box."], "length": 1122, "videos": {"observation.images.camera_h": "videos/chunk-000/observation.images.camera_h/episode_000001.mp4", "observation.images.camera_l": "videos/chunk-000/observation.images.camera_l/episode_000001.mp4", "observation.images.camera_r": "videos/chunk-000/observation.images.camera_r/episode_000001.mp4"}, "tcp_offset_wrist_m_by_hand": {"left": [0.15, 0.0, 0.0], "right": [0.15, 0.0, 0.0]}}
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meta/info.json

@@ -0,0 +1,376 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "arx_lift2s",
+  "total_episodes": 50,
+  "total_frames": 61328,
+  "total_tasks": 1,
+  "total_videos": 150,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 20.0,
+  "splits": {
+    "train": "0:50"
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "depth_path": "depth/chunk-{episode_chunk:03d}/{depth_key}/episode_{episode_index:06d}.npz",
+  "camera_path": "camera/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.npz",
+  "features": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": [
+        "left_joint_0",
+        "left_joint_1",
+        "left_joint_2",
+        "left_joint_3",
+        "left_joint_4",
+        "left_joint_5",
+        "left_gripper",
+        "right_joint_0",
+        "right_joint_1",
+        "right_joint_2",
+        "right_joint_3",
+        "right_joint_4",
+        "right_joint_5",
+        "right_gripper"
+      ]
+    },
+    "observation.qvel": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": [
+        "left_joint_0",
+        "left_joint_1",
+        "left_joint_2",
+        "left_joint_3",
+        "left_joint_4",
+        "left_joint_5",
+        "left_gripper",
+        "right_joint_0",
+        "right_joint_1",
+        "right_joint_2",
+        "right_joint_3",
+        "right_joint_4",
+        "right_joint_5",
+        "right_gripper"
+      ]
+    },
+    "observation.effort": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": [
+        "left_joint_0",
+        "left_joint_1",
+        "left_joint_2",
+        "left_joint_3",
+        "left_joint_4",
+        "left_joint_5",
+        "left_gripper",
+        "right_joint_0",
+        "right_joint_1",
+        "right_joint_2",
+        "right_joint_3",
+        "right_joint_4",
+        "right_joint_5",
+        "right_gripper"
+      ]
+    },
+    "observation.eef": {
+      "dtype": "float32",
+      "shape": [
+        14
+      ],
+      "names": [
+        "left_x",
+        "left_y",
+        "left_z",
+        "left_roll",
+        "left_pitch",
+        "left_yaw",
+        "left_gripper",
+        "right_x",
+        "right_y",
+        "right_z",
+        "right_roll",
+        "right_pitch",
+        "right_yaw",
+        "right_gripper"
+      ]
+    },
+    "observation.eef_tcp": {
+      "dtype": "float32",
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