Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +756 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.environment.main_camera.image.aug1/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug10/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug11/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug12/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug2/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug3/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug4/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug5/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug6/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug7/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug8/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image.aug9/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.environment.main_camera.image/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c1cd41cb3e9e0b1052d78664d6774583215ea9faff5d1396fe756919e6189843
|
| 3 |
+
size 321114
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["pick_tblock"], "length": 207}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"observation.joint": {"min": [-1.3804286709273583e-06, 0.0007825843640603125, -3.694380623642246e-08, -1.5945711135864258, -0.0014069054741412401, 1.566551685333252, -0.7853004932403564, -3.390645724721253e-05, -0.009526691399514675, -0.14508047699928284, -0.010400100611150265, -2.3103599548339844, -0.22183625400066376, 1.576947569847107, -1.9022557735443115, 0.038640860468149185], "max": [4.4437142605602276e-06, 0.02472315914928913, 1.578464434714988e-05, -1.5716511011123657, -5.13867344125174e-05, 1.5706278085708618, -0.7852765917778015, 0.07521890103816986, 0.40972664952278137, 0.4540872871875763, 0.3591098487377167, -1.6042985916137695, 0.004380741622298956, 2.6601288318634033, -0.765766441822052, 0.0802440494298935], "mean": [1.2186731055408018e-06, 0.011835764162242413, 7.095468845363939e-06, -1.5822216272354126, -0.0006778743118047714, 1.5687363147735596, -0.7852894067764282, 0.001854413072578609, 0.2655293047428131, 0.12624260783195496, 0.20676501095294952, -2.1715621948242188, -0.08491858839988708, 2.2712154388427734, -1.5113725662231445, 0.07045286148786545], "std": [1.3751188134847325e-06, 0.0071256826631724834, 3.3384276321157813e-06, 0.0068334476090967655, 0.00040162779623642564, 0.0012142224004492164, 6.569289780600229e-06, 0.008906833827495575, 0.13449423015117645, 0.2149742841720581, 0.10838944464921951, 0.1830480545759201, 0.0816461592912674, 0.33640074729919434, 0.344563752412796, 0.017193634063005447], "count": [207]}, "observation.state": {"min": [-1.3804286709273583e-06, 0.0007825843640603125, -3.694380623642246e-08, -1.5945711135864258, -0.0014069054741412401, 1.566551685333252, -0.7853004932403564, 0.04944309592247009, -0.13195312023162842, 0.036839451640844345, -0.7578851580619812, 0.04944285750389099, -0.13184978067874908, 0.036842428147792816, -0.7572621703147888, -0.009526691399514675, -0.14508047699928284, -0.010400100611150265, -2.3103599548339844, -0.22183625400066376, 1.576947569847107, -1.9022557735443115, 0.0005032220506109297, -0.11616173386573792, 0.0007733793463557959, -0.4035305976867676, 0.0005028947489336133, -0.16735754907131195, 0.0007579593802802265, -0.3535618782043457], "max": [4.4437142605602276e-06, 0.02472315914928913, 1.578464434714988e-05, -1.5716511011123657, -5.13867344125174e-05, 1.5706278085708618, -0.7852765917778015, 0.7823302149772644, 0.0005020471871830523, 0.7811587452888489, -0.0050058732740581036, 0.7823314666748047, 0.0005011676694266498, 0.7813365459442139, -0.005045090802013874, 0.40972664952278137, 0.4540872871875763, 0.3591098487377167, -1.6042985916137695, 0.004380741622298956, 2.6601288318634033, -0.765766441822052, 0.4056766629219055, 0.0008513706270605326, 0.40320128202438354, -0.0010913481237366796, 0.4055623412132263, 0.0001695617102086544, 0.3876069188117981, -0.0006304397247731686], "mean": [1.2186731055408018e-06, 0.011835764162242413, 7.095468845363939e-06, -1.5822216272354126, -0.0006778743118047714, 1.5687363147735596, -0.7852894067764282, 0.763940691947937, -0.003481260035187006, 0.759992241859436, -0.7314362525939941, 0.7639414668083191, -0.003475222270935774, 0.7601571083068848, -0.7308899760246277, 0.2655293047428131, 0.12624260783195496, 0.20676501095294952, -2.1715621948242188, -0.08491858839988708, 2.2712154388427734, -1.5113725662231445, 0.09585977345705032, -0.0015240516513586044, 0.09414825588464737, -0.09160267561674118, 0.09583168476819992, -0.008086579851806164, 0.08936551958322525, -0.07676737010478973], "std": [1.3751188134847325e-06, 0.0071256826631724834, 3.3384276321157813e-06, 0.0068334476090967655, 0.00040162779623642564, 0.0012142224004492164, 6.569289780600229e-06, 0.08674364537000656, 0.02002369984984398, 0.09795944392681122, 0.11868374794721603, 0.08674384653568268, 0.019997388124465942, 0.0979815423488617, 0.11851269006729126, 0.13449423015117645, 0.2149742841720581, 0.10838944464921951, 0.1830480545759201, 0.0816461592912674, 0.33640074729919434, 0.344563752412796, 0.16744883358478546, 0.01225411705672741, 0.1649920642375946, 0.16352586448192596, 0.16739852726459503, 0.02185405045747757, 0.15676821768283844, 0.13953366875648499], "count": [207]}, "observation.environment_state": {"min": [0.04432908445596695, 0.2534496784210205, -0.0009638955816626549, 0.5956081748008728, 0.5868278741836548, 0.3535533845424652, 0.323770672082901], "max": [0.05275135859847069, 0.26417768001556396, 0.11584314703941345, 0.622043788433075, 0.6176820397377014, 0.4100145995616913, 0.36906927824020386], "mean": [0.05165794491767883, 0.26198264956474304, 0.011506019160151482, 0.610318660736084, 0.6077226400375366, 0.37012979388237, 0.34750160574913025], "std": [0.002133655594661832, 0.004037762526422739, 0.027775326743721962, 0.004821703769266605, 0.008319011889398098, 0.017599154263734818, 0.005350626073777676], "count": [207]}, "observation.environment.block_xy": {"min": [0.04432908445596695, 0.2534496784210205], "max": [0.05275135859847069, 0.26417768001556396], "mean": [0.05165794491767883, 0.26198264956474304], "std": [0.002133655594661832, 0.004037762526422739], "count": [207]}, "observation.right_arm.joint": {"min": [-0.009526691399514675, -0.14508047699928284, -0.010400100611150265, -2.3103599548339844, -0.22183625400066376, 1.576947569847107, -1.9022557735443115], "max": [0.40972664952278137, 0.4540872871875763, 0.3591098487377167, -1.6042985916137695, 0.004380741622298956, 2.6601288318634033, -0.765766441822052], "mean": [0.2655293047428131, 0.12624260783195496, 0.20676501095294952, -2.1715621948242188, -0.08491858839988708, 2.2712154388427734, -1.5113725662231445], "std": [0.13449423015117645, 0.2149742841720581, 0.10838944464921951, 0.1830480545759201, 0.0816461592912674, 0.33640074729919434, 0.344563752412796], "count": [207]}, "observation.right.joint": {"min": [-0.009526691399514675, -0.14508047699928284, -0.010400100611150265, -2.3103599548339844, -0.22183625400066376, 1.576947569847107, -1.9022557735443115, 0.038640860468149185], "max": [0.40972664952278137, 0.4540872871875763, 0.3591098487377167, -1.6042985916137695, 0.004380741622298956, 2.6601288318634033, -0.765766441822052, 0.0802440494298935], "mean": [0.2655293047428131, 0.12624260783195496, 0.20676501095294952, -2.1715621948242188, -0.08491858839988708, 2.2712154388427734, -1.5113725662231445, 0.07045286148786545], "std": [0.13449423015117645, 0.2149742841720581, 0.10838944464921951, 0.1830480545759201, 0.0816461592912674, 0.33640074729919434, 0.344563752412796, 0.017193634063005447], "count": [207]}, "observation.left_arm.joint": {"min": [-1.3804286709273583e-06, 0.0007825843640603125, -3.694380623642246e-08, -1.5945711135864258, -0.0014069054741412401, 1.566551685333252, -0.7853004932403564], "max": [4.4437142605602276e-06, 0.02472315914928913, 1.578464434714988e-05, -1.5716511011123657, -5.13867344125174e-05, 1.5706278085708618, -0.7852765917778015], "mean": [1.2186731055408018e-06, 0.011835764162242413, 7.095468845363939e-06, -1.5822216272354126, -0.0006778743118047714, 1.5687363147735596, -0.7852894067764282], "std": [1.3751188134847325e-06, 0.0071256826631724834, 3.3384276321157813e-06, 0.0068334476090967655, 0.00040162779623642564, 0.0012142224004492164, 6.569289780600229e-06], "count": [207]}, "observation.qvel": {"min": [-7.770776574034244e-05, -2.667504661602038e-09, -0.0001173289492726326, -0.05692379176616669, -0.003102554241195321, -0.010483763180673122, -3.91724415749195e-06, -4.875358354183845e-05, -2.121955394744873, -0.00018664075469132513, -5.964783191680908, -4.822123810299672e-05, -2.1206679344177246, -9.309874440077692e-05, -5.974990367889404, -0.10010432451963425, -0.4539441466331482, -0.07367543876171112, -0.7631990909576416, -0.4081096351146698, -0.4296503961086273, -0.6715074777603149, -0.3172752261161804, -2.1029841899871826, -0.06616172939538956, -7.3960771560668945, -0.3336199223995209, -3.0887768268585205, -0.26270556449890137, -6.2872772216796875], "max": [0.00013702214346267283, 0.05993514880537987, 0.0001719036663416773, 2.7337956343131964e-09, 7.695896364623422e-09, 2.3101081580989558e-07, 2.8841792300227098e-05, 6.314936637878418, 2.3834068775177, 4.255095958709717, 0.00013406485959421843, 6.314931869506836, 2.3882806301116943, 4.255640506744385, 0.00018050310609396547, 0.24149565398693085, 0.6880483031272888, 0.2101549357175827, 0.22280777990818024, 0.20939233899116516, 0.5581409335136414, 0.03042937070131302, 6.285308837890625, 3.238978385925293, 4.250158786773682, 0.37249070405960083, 6.285855770111084, 2.7960548400878906, 4.25156307220459, 1.7587106227874756], "mean": [-1.552330445520056e-06, 0.0058078039437532425, 8.030193043850886e-07, -0.005512291099876165, -0.0003224935207981616, -0.0009858582634478807, 5.563053491641767e-06, 0.18589268624782562, 0.005836930125951767, 0.1877954602241516, -0.19021277129650116, 0.18589399755001068, 0.005865892395377159, 0.18786925077438354, -0.19019830226898193, 0.08322297781705856, 0.052215851843357086, 0.08639470487833023, -0.1479862779378891, -0.016182968392968178, 0.19006673991680145, -0.265889048576355, 0.0936368852853775, 0.005801302846521139, 0.08637230843305588, -0.11098667979240417, 0.09359975904226303, -0.00545539753511548, 0.07659947872161865, -0.08284853398799896], "std": [2.2527678083861247e-05, 0.013591560535132885, 2.9583159630419686e-05, 0.012863553129136562, 0.0007149773882701993, 0.0023656871635466814, 8.531578714610077e-06, 0.8043109178543091, 0.33894065022468567, 0.7440767288208008, 0.8387778401374817, 0.8043121695518494, 0.3393259048461914, 0.7442878484725952, 0.839964747428894, 0.09461379051208496, 0.25716015696525574, 0.07378526777029037, 0.23206302523612976, 0.11476229876279831, 0.27240824699401855, 0.2066512107849121, 0.6617293357849121, 0.3538319170475006, 0.5140952467918396, 0.7526083588600159, 0.6623212695121765, 0.4001213610172272, 0.4693717658519745, 0.6118080019950867], "count": [207]}, "observation.env_qvel": {"min": [-0.19275178015232086, -0.2518005073070526, -0.5885999798774719, -1.8165647983551025, -0.4357547163963318, -14.102007865905762], "max": [0.02295002155005932, 0.035150881856679916, 0.19744716584682465, 2.878048896789551, 0.7170585989952087, 5.089864730834961], "mean": [-0.002980181947350502, -0.000442192773334682, 0.02034779265522957, 0.023106548935174942, 0.013547251001000404, -0.061635516583919525], "std": [0.014380675740540028, 0.018129071220755577, 0.08068899065256119, 0.29860761761665344, 0.06654492765665054, 1.098169207572937], "count": [207]}, "observation.ee_pose": {"min": [-0.3999999165534973, 0.4046611189842224, 0.5991607308387756, 0.00032035144977271557, 0.38258522748947144, 0.9235435724258423, -0.024091269820928574, -3.390645724721253e-05, 0.05092574283480644, 0.25678136944770813, 0.16641627252101898, -0.005125543102622032, -0.5241773128509521, 0.8515558242797852, -0.01425942499190569, 0.038640860468149185], "max": [-0.3998570144176483, 0.41007131338119507, 0.6237627863883972, 0.010741911828517914, 0.38272446393966675, 0.9238622188568115, -0.0007140965317375958, 0.07521890103816986, 0.41294360160827637, 0.39237311482429504, 0.6313804984092712, 0.010821955278515816, 0.400856077671051, 0.9999568462371826, 0.009566718712449074, 0.0802440494298935], "mean": [-0.39993202686309814, 0.407259464263916, 0.6123639345169067, 0.005153445061296225, 0.38268354535102844, 0.9237616062164307, -0.01155488658696413, 0.001854413072578609, 0.16428984701633453, 0.301363080739975, 0.34043413400650024, 0.0031698925886303186, -0.22654590010643005, 0.9225755333900452, -0.007507700938731432, 0.07045286148786545], "std": [4.16449001932051e-05, 0.0015691291773691773, 0.0072946008294820786, 0.003088318509981036, 5.0775874115061015e-05, 0.00011300366895738989, 0.006930106785148382, 0.008906833827495575, 0.12027689814567566, 0.045407116413116455, 0.14332488179206848, 0.005295585375279188, 0.3073027431964874, 0.05459020659327507, 0.004676217678934336, 0.017193634063005447], "count": [207]}, "action.ctrl": {"min": [-1.5902136283330037e-06, -8.768090992816724e-06, 5.248252055167768e-09, -1.587847352027893, -0.0010385882342234254, 1.567726969718933, -0.7852999567985535, 255.0, -0.009530383162200451, -0.153787299990654, -0.010404105298221111, -2.306865692138672, -0.22738352417945862, 1.5771132707595825, -1.9134148359298706, 0.0], "max": [4.3015775190724526e-06, 0.017634542658925056, 2.1939496946288273e-05, -1.5707900524139404, 6.709923172643073e-10, 1.5708385705947876, -0.7852784991264343, 255.0, 0.41350048780441284, 0.4543720483779907, 0.3638896346092224, -1.603413462638855, 0.005863895174115896, 2.670475959777832, -0.7657676935195923, 255.0], "mean": [1.2364994290692266e-06, 0.005388044286519289, 1.0825433491845615e-05, -1.5760304927825928, -0.0003388987388461828, 1.5698952674865723, -0.7852891683578491, 255.0, 0.27333158254623413, 0.12401612102985382, 0.2151944935321808, -2.1797194480895996, -0.08623585104942322, 2.2911698818206787, -1.5374209880828857, 61.59420394897461], "std": [1.5079748436619411e-06, 0.007220515049993992, 5.031430191593245e-06, 0.006973160896450281, 0.0004105160478502512, 0.0012580150505527854, 6.121837031969335e-06, 0.0, 0.12929466366767883, 0.21441636979579926, 0.10667964816093445, 0.16542695462703705, 0.08200962096452713, 0.3217863440513611, 0.3312734365463257, 109.14517211914062], "count": [207]}, "action.joint": {"min": [-1.5902136283330037e-06, -8.768090992816724e-06, 5.248252055167768e-09, -1.587847352027893, -0.0010385882342234254, 1.567726969718933, -0.7852999567985535, 0.0, -0.009530383162200451, -0.153787299990654, -0.010404105298221111, -2.306865692138672, -0.22738352417945862, 1.5771132707595825, -1.9134148359298706, 0.0], "max": [4.3015775190724526e-06, 0.017634542658925056, 2.1939496946288273e-05, -1.5707900524139404, 6.709923172643073e-10, 1.5708385705947876, -0.7852784991264343, 0.0, 0.41350048780441284, 0.4543720483779907, 0.3638896346092224, -1.603413462638855, 0.005863895174115896, 2.670475959777832, -0.7657676935195923, 0.07999999821186066], "mean": [1.2364994290692266e-06, 0.005388044286519289, 1.0825433491845615e-05, -1.5760304927825928, -0.0003388987388461828, 1.5698952674865723, -0.7852891683578491, 0.0, 0.27333158254623413, 0.12401612102985382, 0.2151944935321808, -2.1797194480895996, -0.08623585104942322, 2.2911698818206787, -1.5374209880828857, 0.06067628413438797], "std": [1.5079748436619411e-06, 0.007220515049993992, 5.031430191593245e-06, 0.006973160896450281, 0.0004105160478502512, 0.0012580150505527854, 6.121837031969335e-06, 0.0, 0.12929466366767883, 0.21441636979579926, 0.10667964816093445, 0.16542695462703705, 0.08200962096452713, 0.3217863440513611, 0.3312734365463257, 0.03424163907766342], "count": [207]}, "action.ee_pose": {"min": [-0.4000000059604645, 0.40449947118759155, 0.6063948273658752, -4.506123627781007e-17, 0.38265419006347656, 0.9236988425254822, -0.0172366201877594, 0.0, 0.04888365790247917, 0.25845596194267273, 0.16700172424316406, -0.005213478114455938, -0.526774525642395, 0.8499889969825745, -0.00965846050530672, 0.0], "max": [-0.3998994827270508, 0.40858879685401917, 0.624502420425415, 0.007685074117034674, 0.38272878527641296, 0.9238607287406921, -4.871059501299397e-17, 0.0, 0.4129413962364197, 0.39221107959747314, 0.632109522819519, 0.00572456419467926, 0.40086302161216736, 0.9998375773429871, 0.010281389579176903, 0.07999999821186066], "mean": [-0.3999699354171753, 0.40576404333114624, 0.6189631223678589, 0.002352436538785696, 0.3827087879180908, 0.9238193035125732, -0.005274535156786442, 0.0, 0.15523368120193481, 0.2994922697544098, 0.3389718532562256, 0.00037156380130909383, -0.24906593561172485, 0.9205864071846008, 0.0008409044239670038, 0.06067628413438797], "std": [4.1173894715029746e-05, 0.0016781804151833057, 0.007413465995341539, 0.0031467354856431484, 3.0348330255947076e-05, 6.590181874344125e-05, 0.007057109382003546, 0.0, 0.11685525625944138, 0.04252603277564049, 0.13749279081821442, 0.0034848186187446117, 0.2954716980457306, 0.05597083270549774, 0.006101437844336033, 0.03424163907766342], "count": [207]}, "action.right_arm.joint": {"min": [-0.009530383162200451, -0.153787299990654, -0.010404105298221111, -2.306865692138672, -0.22738352417945862, 1.5771132707595825, -1.9134148359298706], "max": [0.41350048780441284, 0.4543720483779907, 0.3638896346092224, -1.603413462638855, 0.005863895174115896, 2.670475959777832, -0.7657676935195923], "mean": [0.27333158254623413, 0.12401612102985382, 0.2151944935321808, -2.1797194480895996, -0.08623585104942322, 2.2911698818206787, -1.5374209880828857], "std": [0.12929466366767883, 0.21441636979579926, 0.10667964816093445, 0.16542695462703705, 0.08200962096452713, 0.3217863440513611, 0.3312734365463257], "count": [207]}, "action.right.joint": {"min": [-0.009530383162200451, -0.153787299990654, -0.010404105298221111, -2.306865692138672, -0.22738352417945862, 1.5771132707595825, -1.9134148359298706, 0.0], "max": [0.41350048780441284, 0.4543720483779907, 0.3638896346092224, -1.603413462638855, 0.005863895174115896, 2.670475959777832, -0.7657676935195923, 0.07999999821186066], "mean": [0.27333158254623413, 0.12401612102985382, 0.2151944935321808, -2.1797194480895996, -0.08623585104942322, 2.2911698818206787, -1.5374209880828857, 0.06067628413438797], "std": [0.12929466366767883, 0.21441636979579926, 0.10667964816093445, 0.16542695462703705, 0.08200962096452713, 0.3217863440513611, 0.3312734365463257, 0.03424163907766342], "count": [207]}, "action.left_arm.joint": {"min": [-1.5902136283330037e-06, -8.768090992816724e-06, 5.248252055167768e-09, -1.587847352027893, -0.0010385882342234254, 1.567726969718933, -0.7852999567985535], "max": [4.3015775190724526e-06, 0.017634542658925056, 2.1939496946288273e-05, -1.5707900524139404, 6.709923172643073e-10, 1.5708385705947876, -0.7852784991264343], "mean": [1.2364994290692266e-06, 0.005388044286519289, 1.0825433491845615e-05, -1.5760304927825928, -0.0003388987388461828, 1.5698952674865723, -0.7852891683578491], "std": [1.5079748436619411e-06, 0.007220515049993992, 5.031430191593245e-06, 0.006973160896450281, 0.0004105160478502512, 0.0012580150505527854, 6.121837031969335e-06], "count": [207]}, "action.right_arm.joint.relative": {"min": [-0.00996814388781786, -0.03573803976178169, -0.005121665075421333, -0.07234549522399902, -0.03316061943769455, -0.03350692614912987, -0.04969201982021332], "max": [0.01828896999359131, 0.052181173115968704, 0.015843652188777924, 0.019162386655807495, 0.019595438614487648, 0.04444347694516182, 0.017913954332470894], "mean": [0.008384599350392818, 0.002944651059806347, 0.009736240841448307, -0.014731592498719692, -0.001162022352218628, 0.016379404813051224, -0.027073360979557037], "std": [0.00982901081442833, 0.026584459468722343, 0.006050300318747759, 0.023935293778777122, 0.011657653376460075, 0.02730380743741989, 0.018580278381705284], "count": [207]}, "action.left_arm.joint.relative": {"min": [-7.253731268974661e-07, -8.742622412682977e-06, -4.526651537162252e-06, -0.006707711610943079, -0.00036978922435082495, -0.0012628701515495777, -9.9374142337183e-07], "max": [1.8738888911684626e-06, 0.006997566670179367, 2.995237537106732e-06, 1.2529687865026062e-06, 4.745331731725866e-12, 3.394223313080147e-05, 3.5242183002992533e-06], "mean": [-3.195000530809011e-08, 8.496538066538051e-05, 3.3322544368274976e-07, -8.311315468745306e-05, -5.78688286623219e-06, -1.3382565157371573e-05, 2.464835802129528e-07], "std": [3.770456942220335e-07, 0.0007271069334819913, 6.395741252163134e-07, 0.0006989183020778, 3.830239438684657e-05, 0.0001313801622018218, 5.926384574195254e-07], "count": [207]}, "action.joint.relative": {"min": [-7.253731268974661e-07, -8.742622412682977e-06, -4.526651537162252e-06, -0.006707711610943079, -0.00036978922435082495, -0.0012628701515495777, -9.9374142337183e-07, 0.0, -0.00996814388781786, -0.03573803976178169, -0.005121665075421333, -0.07234549522399902, -0.03316061943769455, -0.03350692614912987, -0.04969201982021332, -0.07999999821186066], "max": [1.8738888911684626e-06, 0.006997566670179367, 2.995237537106732e-06, 1.2529687865026062e-06, 4.745331731725866e-12, 3.394223313080147e-05, 3.5242183002992533e-06, 0.0, 0.01828896999359131, 0.052181173115968704, 0.015843652188777924, 0.019162386655807495, 0.019595438614487648, 0.04444347694516182, 0.017913954332470894, 0.0], "mean": [-3.195000530809011e-08, 8.496538066538051e-05, 3.3322544368274976e-07, -8.311315468745306e-05, -5.78688286623219e-06, -1.3382565157371573e-05, 2.464835802129528e-07, 0.0, 0.008384599350392818, 0.002944651059806347, 0.009736240841448307, -0.014731592498719692, -0.001162022352218628, 0.016379404813051224, -0.027073360979557037, -0.0003864734317176044], "std": [3.770456942220335e-07, 0.0007271069334819913, 6.395741252163134e-07, 0.0006989183020778, 3.830239438684657e-05, 0.0001313801622018218, 5.926384574195254e-07, 0.0, 0.00982901081442833, 0.026584459468722343, 0.006050300318747759, 0.023935293778777122, 0.011657653376460075, 0.02730380743741989, 0.018580278381705284, 0.005546939559280872], "count": [207]}, "timestamp": {"min": [0.0], "max": [4.119999885559082], "mean": [2.059999942779541], "std": [1.1951011419296265], "count": [207]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [207]}, "frame_index": {"min": [0], "max": [206], "mean": [103.0], "std": [59.75505557412416], "count": [207]}, "index": {"min": [0], "max": [206], "mean": [103.0], "std": [59.75505557412416], "count": [207]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [207]}, "observation.environment.tblock.center.x": {"min": [0.04642711952328682], "max": [0.05532452091574669], "mean": [0.05345646291971207], "std": [0.00193241355009377], "count": [207]}, "observation.environment.tblock.center.y": {"min": [0.2568340599536896], "max": [0.26788797974586487], "mean": [0.2646177411079407], "std": [0.0036503917071968317], "count": [207]}, "observation.environment.tblock.center.z": {"min": [0.022392800077795982], "max": [0.13845741748809814], "mean": [0.03437430411577225], "std": [0.027629857882857323], "count": [207]}, "observation.environment.tblock.center.xy": {"min": [0.04642711952328682, 0.2568340599536896], "max": [0.05532452091574669, 0.26788797974586487], "mean": [0.053456444293260574, 0.2646176517009735], "std": [0.0019324134336784482, 0.0036503917071968317], "count": [207]}, "observation.environment.tblock.center.xyz": {"min": [0.04642711952328682, 0.2568340599536896, 0.022392800077795982], "max": [0.05532452091574669, 0.26788797974586487, 0.13845741748809814], "mean": [0.053456444293260574, 0.2646176517009735, 0.034374307841062546], "std": [0.0019324134336784482, 0.0036503917071968317, 0.027629859745502472], "count": [207]}, "observation.environment.tblock.center.quat": {"min": [0.6083891987800598, 0.5932284593582153, 0.32580581307411194, 0.32140296697616577], "max": [0.6352416276931763, 0.6232073307037354, 0.3828231692314148, 0.36516034603118896], "mean": [0.6225526928901672, 0.6130033135414124, 0.34250780940055847, 0.3448369801044464], "std": [0.00454330537468195, 0.007958435453474522, 0.017792901024222374, 0.005518648773431778], "count": [207]}, "observation.environment.tblock.center.euler": {"min": [1.5377217531204224, -0.02624155580997467, 0.9918399453163147], "max": [1.5882692337036133, 0.06141931936144829, 1.1102931499481201], "mean": [1.5577242374420166, 0.003596514230594039, 1.0153945684432983], "std": [0.00706813158467412, 0.02204609103500843, 0.03457915782928467], "count": [207]}, "observation.environment.tblock.center.posquat": {"min": [0.04642711952328682, 0.2568340599536896, 0.022392800077795982, 0.6083891987800598, 0.5932284593582153, 0.32580581307411194, 0.32140296697616577], "max": [0.05532452091574669, 0.26788797974586487, 0.13845741748809814, 0.6352416276931763, 0.6232073307037354, 0.3828231692314148, 0.36516034603118896], "mean": [0.053456444293260574, 0.2646176517009735, 0.034374307841062546, 0.6225526928901672, 0.6130033135414124, 0.34250780940055847, 0.3448369801044464], "std": [0.0019324134336784482, 0.0036503917071968317, 0.027629859745502472, 0.00454330537468195, 0.007958435453474522, 0.017792901024222374, 0.005518648773431778], "count": [207]}, "observation.environment.tblock.center.xaxis": {"min": [0.4441148638725281, 0.8370257616043091, -0.06138071045279503], "max": [0.5471452474594116, 0.8952564001083374, 0.026238543912768364], "mean": [0.5268571376800537, 0.8489571809768677, -0.00359324854798615], "std": [0.029999233782291412, 0.017147576436400414, 0.022039363160729408], "count": [207]}, "observation.environment.tblock.center.yaxis": {"min": [-0.03520632162690163, -0.00850205309689045, 0.9980208873748779], "max": [0.043348588049411774, 0.05898480862379074, 0.9999885559082031], "mean": [-0.009680932387709618, 0.010440831072628498, 0.9996404051780701], "std": [0.016435161232948303, 0.01570272631943226, 0.00038021011278033257], "count": [207]}, "observation.environment.tblock.center.zaxis": {"min": [0.8370370864868164, -0.5471434593200684, -0.017443791031837463], "max": [0.8958733677864075, -0.44429901242256165, 0.033068034797906876], "mean": [0.8490291833877563, -0.5269998908042908, 0.013070614077150822], "std": [0.017513563856482506, 0.029879413545131683, 0.007066506892442703], "count": [207]}, "observation.environment.tblock.center.mat": {"min": [[0.4441148638725281, -0.03520632162690163, 0.8370370864868164], [0.8370257616043091, -0.00850205309689045, -0.5471434593200684], [-0.06138071045279503, 0.9980208873748779, -0.017443791031837463]], "max": [[0.5471452474594116, 0.043348588049411774, 0.8958733677864075], [0.8952564001083374, 0.05898480862379074, -0.44429901242256165], [0.026238543912768364, 0.9999885559082031, 0.033068034797906876]], "mean": [[0.5268571376800537, -0.009680932387709618, 0.8490291833877563], [0.8489571809768677, 0.010440831072628498, -0.5269998908042908], [-0.00359324854798615, 0.9996404051780701, 0.013070614077150822]], "std": [[0.029999233782291412, 0.016435161232948303, 0.017513563856482506], [0.017147576436400414, 0.01570272631943226, 0.029879413545131683], [0.022039363160729408, 0.00038021011278033257, 0.007066506892442703]], "count": [207]}, "observation.environment.tblock.center.full_mat": {"min": [0.4441148638725281, -0.03520632162690163, 0.8370370864868164, 0.04642711952328682, 0.8370257616043091, -0.00850205309689045, -0.5471434593200684, 0.2568340599536896, -0.06138071045279503, 0.9980208873748779, -0.017443791031837463, 0.022392800077795982, 0.0, 0.0, 0.0, 1.0], "max": [0.5471452474594116, 0.043348588049411774, 0.8958733677864075, 0.05532452091574669, 0.8952564001083374, 0.05898480862379074, -0.44429901242256165, 0.26788797974586487, 0.026238543912768364, 0.9999885559082031, 0.033068034797906876, 0.13845741748809814, 0.0, 0.0, 0.0, 1.0], "mean": [0.5268571376800537, -0.009680932387709618, 0.8490291833877563, 0.053456444293260574, 0.8489571809768677, 0.010440831072628498, -0.5269998908042908, 0.2646176517009735, -0.00359324854798615, 0.9996404051780701, 0.013070614077150822, 0.034374307841062546, 0.0, 0.0, 0.0, 1.0], "std": [0.029999233782291412, 0.016435161232948303, 0.017513563856482506, 0.0019324134336784482, 0.017147576436400414, 0.01570272631943226, 0.029879413545131683, 0.0036503917071968317, 0.022039363160729408, 0.00038021011278033257, 0.007066506892442703, 0.027629859745502472, 0.0, 0.0, 0.0, 0.0], "count": [207]}, "observation.environment.tblock.center.reduced_mat": {"min": [0.4441148638725281, -0.03520632162690163, 0.8370370864868164, 0.04642711952328682, 0.8370257616043091, -0.00850205309689045, -0.5471434593200684, 0.2568340599536896, -0.06138071045279503, 0.9980208873748779, -0.017443791031837463, 0.022392800077795982], "max": [0.5471452474594116, 0.043348588049411774, 0.8958733677864075, 0.05532452091574669, 0.8952564001083374, 0.05898480862379074, -0.44429901242256165, 0.26788797974586487, 0.026238543912768364, 0.9999885559082031, 0.033068034797906876, 0.13845741748809814], "mean": [0.5268571376800537, -0.009680932387709618, 0.8490291833877563, 0.053456444293260574, 0.8489571809768677, 0.010440831072628498, -0.5269998908042908, 0.2646176517009735, -0.00359324854798615, 0.9996404051780701, 0.013070614077150822, 0.034374307841062546], "std": [0.029999233782291412, 0.016435161232948303, 0.017513563856482506, 0.0019324134336784482, 0.017147576436400414, 0.01570272631943226, 0.029879413545131683, 0.0036503917071968317, 0.022039363160729408, 0.00038021011278033257, 0.007066506892442703, 0.027629859745502472], "count": [207]}, "observation.environment.main_camera.image": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7019607843137254]], [[0.7019607843137254]], [[0.7058823529411765]]], "mean": [[[0.016674790305010893]], [[0.017093436819172112]], [[0.01711364651416122]]], "std": [[[0.06628186904976147]], [[0.06828505817014612]], [[0.06875604834938964]]], "count": [100]}, "observation.environment.main_camera.image.aug1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5101001525054467]], [[0.4548630364923747]], [[0.41822259531590417]]], "std": [[[0.2835157133119696]], [[0.2711017952388623]], [[0.2777778814648076]]], "count": [100]}, "observation.environment.main_camera.image.aug10": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46681754357298477]], [[0.42218505174291937]], [[0.3893346132897604]]], "std": [[[0.2732734036429265]], [[0.26579213702434173]], [[0.2702205696282773]]], "count": [100]}, "observation.environment.main_camera.image.aug11": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[0.7019607843137254]], [[0.7019607843137254]], [[0.7294117647058823]]], "mean": [[[0.4036107843137255]], [[0.4090561574074074]], [[0.40886392156862744]]], "std": [[[0.24538677006487444]], [[0.23521424918330242]], [[0.23300636437284333]]], "count": [100]}, "observation.environment.main_camera.image.aug12": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7019607843137254]], [[0.7019607843137254]], [[0.7058823529411765]]], "mean": [[[0.016674776688453158]], [[0.017093431372549022]], [[0.017113632897603488]]], "std": [[[0.06628180069419581]], [[0.06828503278949097]], [[0.06875595007717797]]], "count": [100]}, "observation.environment.main_camera.image.aug2": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4123763861655773]], [[0.41724948529411765]], [[0.41709863562091504]]], "std": [[[0.24719626707427989]], [[0.23643924742389785]], [[0.23393921139793453]]], "count": [100]}, "observation.environment.main_camera.image.aug3": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.030264392701525054]], [[0.030216173747276687]], [[0.029846933551198256]]], "std": [[[0.12133444373414613]], [[0.12132606056151272]], [[0.11880544758281392]]], "count": [100]}, "observation.environment.main_camera.image.aug4": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4898568137254902]], [[0.4475077614379085]], [[0.4024756072984749]]], "std": [[[0.2686686046280736]], [[0.2551204992906878]], [[0.27342736089247077]]], "count": [100]}, "observation.environment.main_camera.image.aug5": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[0.8392156862745098]], [[0.8901960784313725]], [[0.9098039215686274]]], "mean": [[[0.4036504711328976]], [[0.40930964324618735]], [[0.4092280610021787]]], "std": [[[0.2442388354755015]], [[0.23405133232228148]], [[0.23190854975672304]]], "count": [100]}, "observation.environment.main_camera.image.aug6": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8392156862745098]], [[0.8901960784313725]], [[0.9058823529411765]]], "mean": [[[0.019817249455337693]], [[0.020304602396514163]], [[0.020348624727668845]]], "std": [[[0.07524413367681593]], [[0.07744822119451548]], [[0.07803810360623913]]], "count": [100]}, "observation.environment.main_camera.image.aug7": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5267020424836601]], [[0.4543172167755991]], [[0.40190313180827886]]], "std": [[[0.2716842740166488]], [[0.26502911241401067]], [[0.2789839438234965]]], "count": [100]}, "observation.environment.main_camera.image.aug8": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41024783496732026]], [[0.41629439542483665]], [[0.41560855392156865]]], "std": [[[0.24638553583200037]], [[0.23650152782607797]], [[0.2340030641137359]]], "count": [100]}, "observation.environment.main_camera.image.aug9": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.027277478213507626]], [[0.028057298474945536]], [[0.02639274237472767]]], "std": [[[0.11877213126137715]], [[0.12223582713164526]], [[0.11484300116214614]]], "count": [100]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,756 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "dual_panda_robotiq_ee",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 207,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 13,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 50,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 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.joint": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
16
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"l_robot/joint1",
|
| 24 |
+
"l_robot/joint2",
|
| 25 |
+
"l_robot/joint3",
|
| 26 |
+
"l_robot/joint4",
|
| 27 |
+
"l_robot/joint5",
|
| 28 |
+
"l_robot/joint6",
|
| 29 |
+
"l_robot/joint7",
|
| 30 |
+
"l_robot/right_driver_joint",
|
| 31 |
+
"l_robot/right_coupler_joint",
|
| 32 |
+
"l_robot/right_spring_link_joint",
|
| 33 |
+
"l_robot/right_follower_joint",
|
| 34 |
+
"l_robot/left_driver_joint",
|
| 35 |
+
"l_robot/left_coupler_joint",
|
| 36 |
+
"l_robot/left_spring_link_joint",
|
| 37 |
+
"l_robot/left_follower_joint",
|
| 38 |
+
"r_robot/joint1",
|
| 39 |
+
"r_robot/joint2",
|
| 40 |
+
"r_robot/joint3",
|
| 41 |
+
"r_robot/joint4",
|
| 42 |
+
"r_robot/joint5",
|
| 43 |
+
"r_robot/joint6",
|
| 44 |
+
"r_robot/joint7",
|
| 45 |
+
"r_robot/right_driver_joint",
|
| 46 |
+
"r_robot/right_coupler_joint",
|
| 47 |
+
"r_robot/right_spring_link_joint",
|
| 48 |
+
"r_robot/right_follower_joint",
|
| 49 |
+
"r_robot/left_driver_joint",
|
| 50 |
+
"r_robot/left_coupler_joint",
|
| 51 |
+
"r_robot/left_spring_link_joint",
|
| 52 |
+
"r_robot/left_follower_joint"
|
| 53 |
+
]
|
| 54 |
+
},
|
| 55 |
+
"observation.state": {
|
| 56 |
+
"dtype": "float32",
|
| 57 |
+
"shape": [
|
| 58 |
+
30
|
| 59 |
+
],
|
| 60 |
+
"names": [
|
| 61 |
+
"l_robot/joint1",
|
| 62 |
+
"l_robot/joint2",
|
| 63 |
+
"l_robot/joint3",
|
| 64 |
+
"l_robot/joint4",
|
| 65 |
+
"l_robot/joint5",
|
| 66 |
+
"l_robot/joint6",
|
| 67 |
+
"l_robot/joint7",
|
| 68 |
+
"l_robot/right_driver_joint",
|
| 69 |
+
"l_robot/right_coupler_joint",
|
| 70 |
+
"l_robot/right_spring_link_joint",
|
| 71 |
+
"l_robot/right_follower_joint",
|
| 72 |
+
"l_robot/left_driver_joint",
|
| 73 |
+
"l_robot/left_coupler_joint",
|
| 74 |
+
"l_robot/left_spring_link_joint",
|
| 75 |
+
"l_robot/left_follower_joint",
|
| 76 |
+
"r_robot/joint1",
|
| 77 |
+
"r_robot/joint2",
|
| 78 |
+
"r_robot/joint3",
|
| 79 |
+
"r_robot/joint4",
|
| 80 |
+
"r_robot/joint5",
|
| 81 |
+
"r_robot/joint6",
|
| 82 |
+
"r_robot/joint7",
|
| 83 |
+
"r_robot/right_driver_joint",
|
| 84 |
+
"r_robot/right_coupler_joint",
|
| 85 |
+
"r_robot/right_spring_link_joint",
|
| 86 |
+
"r_robot/right_follower_joint",
|
| 87 |
+
"r_robot/left_driver_joint",
|
| 88 |
+
"r_robot/left_coupler_joint",
|
| 89 |
+
"r_robot/left_spring_link_joint",
|
| 90 |
+
"r_robot/left_follower_joint"
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"observation.environment_state": {
|
| 94 |
+
"dtype": "float32",
|
| 95 |
+
"shape": [
|
| 96 |
+
7
|
| 97 |
+
],
|
| 98 |
+
"names": [
|
| 99 |
+
"tblock_px",
|
| 100 |
+
"tblock_py",
|
| 101 |
+
"tblock_pz",
|
| 102 |
+
"tblock_qw",
|
| 103 |
+
"tblock_qx",
|
| 104 |
+
"tblock_qy",
|
| 105 |
+
"tblock_qz"
|
| 106 |
+
]
|
| 107 |
+
},
|
| 108 |
+
"observation.environment.block_xy": {
|
| 109 |
+
"dtype": "float32",
|
| 110 |
+
"shape": [
|
| 111 |
+
2
|
| 112 |
+
],
|
| 113 |
+
"names": [
|
| 114 |
+
"block_x",
|
| 115 |
+
"block_y"
|
| 116 |
+
]
|
| 117 |
+
},
|
| 118 |
+
"observation.right_arm.joint": {
|
| 119 |
+
"dtype": "float32",
|
| 120 |
+
"shape": [
|
| 121 |
+
7
|
| 122 |
+
]
|
| 123 |
+
},
|
| 124 |
+
"observation.right.joint": {
|
| 125 |
+
"dtype": "float32",
|
| 126 |
+
"shape": [
|
| 127 |
+
8
|
| 128 |
+
]
|
| 129 |
+
},
|
| 130 |
+
"observation.left_arm.joint": {
|
| 131 |
+
"dtype": "float32",
|
| 132 |
+
"shape": [
|
| 133 |
+
7
|
| 134 |
+
]
|
| 135 |
+
},
|
| 136 |
+
"observation.qvel": {
|
| 137 |
+
"dtype": "float32",
|
| 138 |
+
"shape": [
|
| 139 |
+
30
|
| 140 |
+
],
|
| 141 |
+
"names": [
|
| 142 |
+
"l_robot/joint1",
|
| 143 |
+
"l_robot/joint2",
|
| 144 |
+
"l_robot/joint3",
|
| 145 |
+
"l_robot/joint4",
|
| 146 |
+
"l_robot/joint5",
|
| 147 |
+
"l_robot/joint6",
|
| 148 |
+
"l_robot/joint7",
|
| 149 |
+
"l_robot/right_driver_joint",
|
| 150 |
+
"l_robot/right_coupler_joint",
|
| 151 |
+
"l_robot/right_spring_link_joint",
|
| 152 |
+
"l_robot/right_follower_joint",
|
| 153 |
+
"l_robot/left_driver_joint",
|
| 154 |
+
"l_robot/left_coupler_joint",
|
| 155 |
+
"l_robot/left_spring_link_joint",
|
| 156 |
+
"l_robot/left_follower_joint",
|
| 157 |
+
"r_robot/joint1",
|
| 158 |
+
"r_robot/joint2",
|
| 159 |
+
"r_robot/joint3",
|
| 160 |
+
"r_robot/joint4",
|
| 161 |
+
"r_robot/joint5",
|
| 162 |
+
"r_robot/joint6",
|
| 163 |
+
"r_robot/joint7",
|
| 164 |
+
"r_robot/right_driver_joint",
|
| 165 |
+
"r_robot/right_coupler_joint",
|
| 166 |
+
"r_robot/right_spring_link_joint",
|
| 167 |
+
"r_robot/right_follower_joint",
|
| 168 |
+
"r_robot/left_driver_joint",
|
| 169 |
+
"r_robot/left_coupler_joint",
|
| 170 |
+
"r_robot/left_spring_link_joint",
|
| 171 |
+
"r_robot/left_follower_joint"
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"observation.env_qvel": {
|
| 175 |
+
"dtype": "float32",
|
| 176 |
+
"shape": [
|
| 177 |
+
6
|
| 178 |
+
],
|
| 179 |
+
"names": [
|
| 180 |
+
"tblock_vx",
|
| 181 |
+
"tblock_vy",
|
| 182 |
+
"tblock_vz",
|
| 183 |
+
"tblock_wx",
|
| 184 |
+
"tblock_wy",
|
| 185 |
+
"tblock_wz"
|
| 186 |
+
]
|
| 187 |
+
},
|
| 188 |
+
"observation.ee_pose": {
|
| 189 |
+
"dtype": "float32",
|
| 190 |
+
"shape": [
|
| 191 |
+
16
|
| 192 |
+
],
|
| 193 |
+
"names": [
|
| 194 |
+
"l_robot/hand_x",
|
| 195 |
+
"l_robot/hand_y",
|
| 196 |
+
"l_robot/hand_z",
|
| 197 |
+
"l_robot/hand_qw",
|
| 198 |
+
"l_robot/hand_qx",
|
| 199 |
+
"l_robot/hand_qy",
|
| 200 |
+
"l_robot/hand_qz",
|
| 201 |
+
"l_robot/gripper",
|
| 202 |
+
"r_robot/hand_x",
|
| 203 |
+
"r_robot/hand_y",
|
| 204 |
+
"r_robot/hand_z",
|
| 205 |
+
"r_robot/hand_qw",
|
| 206 |
+
"r_robot/hand_qx",
|
| 207 |
+
"r_robot/hand_qy",
|
| 208 |
+
"r_robot/hand_qz",
|
| 209 |
+
"r_robot/gripper"
|
| 210 |
+
]
|
| 211 |
+
},
|
| 212 |
+
"action.ctrl": {
|
| 213 |
+
"dtype": "float32",
|
| 214 |
+
"shape": [
|
| 215 |
+
16
|
| 216 |
+
],
|
| 217 |
+
"names": [
|
| 218 |
+
"l_robot/actuator1",
|
| 219 |
+
"l_robot/actuator2",
|
| 220 |
+
"l_robot/actuator3",
|
| 221 |
+
"l_robot/actuator4",
|
| 222 |
+
"l_robot/actuator5",
|
| 223 |
+
"l_robot/actuator6",
|
| 224 |
+
"l_robot/actuator7",
|
| 225 |
+
"l_robot/fingers_actuator",
|
| 226 |
+
"r_robot/actuator1",
|
| 227 |
+
"r_robot/actuator2",
|
| 228 |
+
"r_robot/actuator3",
|
| 229 |
+
"r_robot/actuator4",
|
| 230 |
+
"r_robot/actuator5",
|
| 231 |
+
"r_robot/actuator6",
|
| 232 |
+
"r_robot/actuator7",
|
| 233 |
+
"r_robot/fingers_actuator"
|
| 234 |
+
]
|
| 235 |
+
},
|
| 236 |
+
"action.joint": {
|
| 237 |
+
"dtype": "float32",
|
| 238 |
+
"shape": [
|
| 239 |
+
16
|
| 240 |
+
],
|
| 241 |
+
"names": [
|
| 242 |
+
"l_robot/actuator1",
|
| 243 |
+
"l_robot/actuator2",
|
| 244 |
+
"l_robot/actuator3",
|
| 245 |
+
"l_robot/actuator4",
|
| 246 |
+
"l_robot/actuator5",
|
| 247 |
+
"l_robot/actuator6",
|
| 248 |
+
"l_robot/actuator7",
|
| 249 |
+
"l_robot/fingers_actuator",
|
| 250 |
+
"r_robot/actuator1",
|
| 251 |
+
"r_robot/actuator2",
|
| 252 |
+
"r_robot/actuator3",
|
| 253 |
+
"r_robot/actuator4",
|
| 254 |
+
"r_robot/actuator5",
|
| 255 |
+
"r_robot/actuator6",
|
| 256 |
+
"r_robot/actuator7",
|
| 257 |
+
"r_robot/fingers_actuator"
|
| 258 |
+
]
|
| 259 |
+
},
|
| 260 |
+
"action.ee_pose": {
|
| 261 |
+
"dtype": "float32",
|
| 262 |
+
"shape": [
|
| 263 |
+
16
|
| 264 |
+
],
|
| 265 |
+
"names": [
|
| 266 |
+
"l_robot/hand_x",
|
| 267 |
+
"l_robot/hand_y",
|
| 268 |
+
"l_robot/hand_z",
|
| 269 |
+
"l_robot/hand_qw",
|
| 270 |
+
"l_robot/hand_qx",
|
| 271 |
+
"l_robot/hand_qy",
|
| 272 |
+
"l_robot/hand_qz",
|
| 273 |
+
"l_robot/gripper",
|
| 274 |
+
"r_robot/hand_x",
|
| 275 |
+
"r_robot/hand_y",
|
| 276 |
+
"r_robot/hand_z",
|
| 277 |
+
"r_robot/hand_qw",
|
| 278 |
+
"r_robot/hand_qx",
|
| 279 |
+
"r_robot/hand_qy",
|
| 280 |
+
"r_robot/hand_qz",
|
| 281 |
+
"r_robot/gripper"
|
| 282 |
+
]
|
| 283 |
+
},
|
| 284 |
+
"action.right_arm.joint": {
|
| 285 |
+
"dtype": "float32",
|
| 286 |
+
"shape": [
|
| 287 |
+
7
|
| 288 |
+
]
|
| 289 |
+
},
|
| 290 |
+
"action.right.joint": {
|
| 291 |
+
"dtype": "float32",
|
| 292 |
+
"shape": [
|
| 293 |
+
8
|
| 294 |
+
]
|
| 295 |
+
},
|
| 296 |
+
"action.left_arm.joint": {
|
| 297 |
+
"dtype": "float32",
|
| 298 |
+
"shape": [
|
| 299 |
+
7
|
| 300 |
+
]
|
| 301 |
+
},
|
| 302 |
+
"action.right_arm.joint.relative": {
|
| 303 |
+
"dtype": "float32",
|
| 304 |
+
"shape": [
|
| 305 |
+
7
|
| 306 |
+
]
|
| 307 |
+
},
|
| 308 |
+
"action.left_arm.joint.relative": {
|
| 309 |
+
"dtype": "float32",
|
| 310 |
+
"shape": [
|
| 311 |
+
7
|
| 312 |
+
]
|
| 313 |
+
},
|
| 314 |
+
"action.joint.relative": {
|
| 315 |
+
"dtype": "float32",
|
| 316 |
+
"shape": [
|
| 317 |
+
16
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
"timestamp": {
|
| 321 |
+
"dtype": "float32",
|
| 322 |
+
"shape": [
|
| 323 |
+
1
|
| 324 |
+
],
|
| 325 |
+
"names": null
|
| 326 |
+
},
|
| 327 |
+
"episode_index": {
|
| 328 |
+
"dtype": "int64",
|
| 329 |
+
"shape": [
|
| 330 |
+
1
|
| 331 |
+
],
|
| 332 |
+
"names": null
|
| 333 |
+
},
|
| 334 |
+
"frame_index": {
|
| 335 |
+
"dtype": "int64",
|
| 336 |
+
"shape": [
|
| 337 |
+
1
|
| 338 |
+
],
|
| 339 |
+
"names": null
|
| 340 |
+
},
|
| 341 |
+
"index": {
|
| 342 |
+
"dtype": "int64",
|
| 343 |
+
"shape": [
|
| 344 |
+
1
|
| 345 |
+
],
|
| 346 |
+
"names": null
|
| 347 |
+
},
|
| 348 |
+
"task_index": {
|
| 349 |
+
"dtype": "int64",
|
| 350 |
+
"shape": [
|
| 351 |
+
1
|
| 352 |
+
],
|
| 353 |
+
"names": null
|
| 354 |
+
},
|
| 355 |
+
"observation.environment.tblock.center.x": {
|
| 356 |
+
"dtype": "float32",
|
| 357 |
+
"shape": [
|
| 358 |
+
1
|
| 359 |
+
],
|
| 360 |
+
"names": [
|
| 361 |
+
"x"
|
| 362 |
+
]
|
| 363 |
+
},
|
| 364 |
+
"observation.environment.tblock.center.y": {
|
| 365 |
+
"dtype": "float32",
|
| 366 |
+
"shape": [
|
| 367 |
+
1
|
| 368 |
+
],
|
| 369 |
+
"names": [
|
| 370 |
+
"y"
|
| 371 |
+
]
|
| 372 |
+
},
|
| 373 |
+
"observation.environment.tblock.center.z": {
|
| 374 |
+
"dtype": "float32",
|
| 375 |
+
"shape": [
|
| 376 |
+
1
|
| 377 |
+
],
|
| 378 |
+
"names": [
|
| 379 |
+
"z"
|
| 380 |
+
]
|
| 381 |
+
},
|
| 382 |
+
"observation.environment.tblock.center.xy": {
|
| 383 |
+
"dtype": "float32",
|
| 384 |
+
"shape": [
|
| 385 |
+
2
|
| 386 |
+
],
|
| 387 |
+
"names": [
|
| 388 |
+
"xy"
|
| 389 |
+
]
|
| 390 |
+
},
|
| 391 |
+
"observation.environment.tblock.center.xyz": {
|
| 392 |
+
"dtype": "float32",
|
| 393 |
+
"shape": [
|
| 394 |
+
3
|
| 395 |
+
],
|
| 396 |
+
"names": [
|
| 397 |
+
"xyz"
|
| 398 |
+
]
|
| 399 |
+
},
|
| 400 |
+
"observation.environment.tblock.center.quat": {
|
| 401 |
+
"dtype": "float32",
|
| 402 |
+
"shape": [
|
| 403 |
+
4
|
| 404 |
+
],
|
| 405 |
+
"names": [
|
| 406 |
+
"quat"
|
| 407 |
+
]
|
| 408 |
+
},
|
| 409 |
+
"observation.environment.tblock.center.euler": {
|
| 410 |
+
"dtype": "float32",
|
| 411 |
+
"shape": [
|
| 412 |
+
3
|
| 413 |
+
],
|
| 414 |
+
"names": [
|
| 415 |
+
"euler"
|
| 416 |
+
]
|
| 417 |
+
},
|
| 418 |
+
"observation.environment.tblock.center.posquat": {
|
| 419 |
+
"dtype": "float32",
|
| 420 |
+
"shape": [
|
| 421 |
+
7
|
| 422 |
+
],
|
| 423 |
+
"names": [
|
| 424 |
+
"posquat"
|
| 425 |
+
]
|
| 426 |
+
},
|
| 427 |
+
"observation.environment.tblock.center.xaxis": {
|
| 428 |
+
"dtype": "float32",
|
| 429 |
+
"shape": [
|
| 430 |
+
3
|
| 431 |
+
],
|
| 432 |
+
"names": [
|
| 433 |
+
"xaxis"
|
| 434 |
+
]
|
| 435 |
+
},
|
| 436 |
+
"observation.environment.tblock.center.yaxis": {
|
| 437 |
+
"dtype": "float32",
|
| 438 |
+
"shape": [
|
| 439 |
+
3
|
| 440 |
+
],
|
| 441 |
+
"names": [
|
| 442 |
+
"yaxis"
|
| 443 |
+
]
|
| 444 |
+
},
|
| 445 |
+
"observation.environment.tblock.center.zaxis": {
|
| 446 |
+
"dtype": "float32",
|
| 447 |
+
"shape": [
|
| 448 |
+
3
|
| 449 |
+
],
|
| 450 |
+
"names": [
|
| 451 |
+
"zaxis"
|
| 452 |
+
]
|
| 453 |
+
},
|
| 454 |
+
"observation.environment.tblock.center.mat": {
|
| 455 |
+
"dtype": "float32",
|
| 456 |
+
"shape": [
|
| 457 |
+
3,
|
| 458 |
+
3
|
| 459 |
+
],
|
| 460 |
+
"names": [
|
| 461 |
+
"mat"
|
| 462 |
+
]
|
| 463 |
+
},
|
| 464 |
+
"observation.environment.tblock.center.full_mat": {
|
| 465 |
+
"dtype": "float32",
|
| 466 |
+
"shape": [
|
| 467 |
+
16
|
| 468 |
+
],
|
| 469 |
+
"names": [
|
| 470 |
+
"full_mat"
|
| 471 |
+
]
|
| 472 |
+
},
|
| 473 |
+
"observation.environment.tblock.center.reduced_mat": {
|
| 474 |
+
"dtype": "float32",
|
| 475 |
+
"shape": [
|
| 476 |
+
12
|
| 477 |
+
],
|
| 478 |
+
"names": [
|
| 479 |
+
"reduced_mat"
|
| 480 |
+
]
|
| 481 |
+
},
|
| 482 |
+
"observation.environment.main_camera.image": {
|
| 483 |
+
"dtype": "video",
|
| 484 |
+
"shape": [
|
| 485 |
+
360,
|
| 486 |
+
640,
|
| 487 |
+
3
|
| 488 |
+
],
|
| 489 |
+
"names": [
|
| 490 |
+
"video"
|
| 491 |
+
],
|
| 492 |
+
"info": {
|
| 493 |
+
"video.fps": 50.0,
|
| 494 |
+
"video.height": 360,
|
| 495 |
+
"video.width": 640,
|
| 496 |
+
"video.channels": 3,
|
| 497 |
+
"video.codec": "h264",
|
| 498 |
+
"video.pix_fmt": "yuv420p",
|
| 499 |
+
"video.is_depth_map": false,
|
| 500 |
+
"has_audio": false
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"observation.environment.main_camera.image.aug1": {
|
| 504 |
+
"dtype": "video",
|
| 505 |
+
"shape": [
|
| 506 |
+
360,
|
| 507 |
+
640,
|
| 508 |
+
3
|
| 509 |
+
],
|
| 510 |
+
"names": [
|
| 511 |
+
"video"
|
| 512 |
+
],
|
| 513 |
+
"info": {
|
| 514 |
+
"video.fps": 50.0,
|
| 515 |
+
"video.height": 360,
|
| 516 |
+
"video.width": 640,
|
| 517 |
+
"video.channels": 3,
|
| 518 |
+
"video.codec": "h264",
|
| 519 |
+
"video.pix_fmt": "yuv420p",
|
| 520 |
+
"video.is_depth_map": false,
|
| 521 |
+
"has_audio": false
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"observation.environment.main_camera.image.aug10": {
|
| 525 |
+
"dtype": "video",
|
| 526 |
+
"shape": [
|
| 527 |
+
360,
|
| 528 |
+
640,
|
| 529 |
+
3
|
| 530 |
+
],
|
| 531 |
+
"names": [
|
| 532 |
+
"video"
|
| 533 |
+
],
|
| 534 |
+
"info": {
|
| 535 |
+
"video.fps": 50.0,
|
| 536 |
+
"video.height": 360,
|
| 537 |
+
"video.width": 640,
|
| 538 |
+
"video.channels": 3,
|
| 539 |
+
"video.codec": "h264",
|
| 540 |
+
"video.pix_fmt": "yuv420p",
|
| 541 |
+
"video.is_depth_map": false,
|
| 542 |
+
"has_audio": false
|
| 543 |
+
}
|
| 544 |
+
},
|
| 545 |
+
"observation.environment.main_camera.image.aug11": {
|
| 546 |
+
"dtype": "video",
|
| 547 |
+
"shape": [
|
| 548 |
+
360,
|
| 549 |
+
640,
|
| 550 |
+
3
|
| 551 |
+
],
|
| 552 |
+
"names": [
|
| 553 |
+
"video"
|
| 554 |
+
],
|
| 555 |
+
"info": {
|
| 556 |
+
"video.fps": 50.0,
|
| 557 |
+
"video.height": 360,
|
| 558 |
+
"video.width": 640,
|
| 559 |
+
"video.channels": 3,
|
| 560 |
+
"video.codec": "h264",
|
| 561 |
+
"video.pix_fmt": "yuv420p",
|
| 562 |
+
"video.is_depth_map": false,
|
| 563 |
+
"has_audio": false
|
| 564 |
+
}
|
| 565 |
+
},
|
| 566 |
+
"observation.environment.main_camera.image.aug12": {
|
| 567 |
+
"dtype": "video",
|
| 568 |
+
"shape": [
|
| 569 |
+
360,
|
| 570 |
+
640,
|
| 571 |
+
3
|
| 572 |
+
],
|
| 573 |
+
"names": [
|
| 574 |
+
"video"
|
| 575 |
+
],
|
| 576 |
+
"info": {
|
| 577 |
+
"video.fps": 50.0,
|
| 578 |
+
"video.height": 360,
|
| 579 |
+
"video.width": 640,
|
| 580 |
+
"video.channels": 3,
|
| 581 |
+
"video.codec": "h264",
|
| 582 |
+
"video.pix_fmt": "yuv420p",
|
| 583 |
+
"video.is_depth_map": false,
|
| 584 |
+
"has_audio": false
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"observation.environment.main_camera.image.aug2": {
|
| 588 |
+
"dtype": "video",
|
| 589 |
+
"shape": [
|
| 590 |
+
360,
|
| 591 |
+
640,
|
| 592 |
+
3
|
| 593 |
+
],
|
| 594 |
+
"names": [
|
| 595 |
+
"video"
|
| 596 |
+
],
|
| 597 |
+
"info": {
|
| 598 |
+
"video.fps": 50.0,
|
| 599 |
+
"video.height": 360,
|
| 600 |
+
"video.width": 640,
|
| 601 |
+
"video.channels": 3,
|
| 602 |
+
"video.codec": "h264",
|
| 603 |
+
"video.pix_fmt": "yuv420p",
|
| 604 |
+
"video.is_depth_map": false,
|
| 605 |
+
"has_audio": false
|
| 606 |
+
}
|
| 607 |
+
},
|
| 608 |
+
"observation.environment.main_camera.image.aug3": {
|
| 609 |
+
"dtype": "video",
|
| 610 |
+
"shape": [
|
| 611 |
+
360,
|
| 612 |
+
640,
|
| 613 |
+
3
|
| 614 |
+
],
|
| 615 |
+
"names": [
|
| 616 |
+
"video"
|
| 617 |
+
],
|
| 618 |
+
"info": {
|
| 619 |
+
"video.fps": 50.0,
|
| 620 |
+
"video.height": 360,
|
| 621 |
+
"video.width": 640,
|
| 622 |
+
"video.channels": 3,
|
| 623 |
+
"video.codec": "h264",
|
| 624 |
+
"video.pix_fmt": "yuv420p",
|
| 625 |
+
"video.is_depth_map": false,
|
| 626 |
+
"has_audio": false
|
| 627 |
+
}
|
| 628 |
+
},
|
| 629 |
+
"observation.environment.main_camera.image.aug4": {
|
| 630 |
+
"dtype": "video",
|
| 631 |
+
"shape": [
|
| 632 |
+
360,
|
| 633 |
+
640,
|
| 634 |
+
3
|
| 635 |
+
],
|
| 636 |
+
"names": [
|
| 637 |
+
"video"
|
| 638 |
+
],
|
| 639 |
+
"info": {
|
| 640 |
+
"video.fps": 50.0,
|
| 641 |
+
"video.height": 360,
|
| 642 |
+
"video.width": 640,
|
| 643 |
+
"video.channels": 3,
|
| 644 |
+
"video.codec": "h264",
|
| 645 |
+
"video.pix_fmt": "yuv420p",
|
| 646 |
+
"video.is_depth_map": false,
|
| 647 |
+
"has_audio": false
|
| 648 |
+
}
|
| 649 |
+
},
|
| 650 |
+
"observation.environment.main_camera.image.aug5": {
|
| 651 |
+
"dtype": "video",
|
| 652 |
+
"shape": [
|
| 653 |
+
360,
|
| 654 |
+
640,
|
| 655 |
+
3
|
| 656 |
+
],
|
| 657 |
+
"names": [
|
| 658 |
+
"video"
|
| 659 |
+
],
|
| 660 |
+
"info": {
|
| 661 |
+
"video.fps": 50.0,
|
| 662 |
+
"video.height": 360,
|
| 663 |
+
"video.width": 640,
|
| 664 |
+
"video.channels": 3,
|
| 665 |
+
"video.codec": "h264",
|
| 666 |
+
"video.pix_fmt": "yuv420p",
|
| 667 |
+
"video.is_depth_map": false,
|
| 668 |
+
"has_audio": false
|
| 669 |
+
}
|
| 670 |
+
},
|
| 671 |
+
"observation.environment.main_camera.image.aug6": {
|
| 672 |
+
"dtype": "video",
|
| 673 |
+
"shape": [
|
| 674 |
+
360,
|
| 675 |
+
640,
|
| 676 |
+
3
|
| 677 |
+
],
|
| 678 |
+
"names": [
|
| 679 |
+
"video"
|
| 680 |
+
],
|
| 681 |
+
"info": {
|
| 682 |
+
"video.fps": 50.0,
|
| 683 |
+
"video.height": 360,
|
| 684 |
+
"video.width": 640,
|
| 685 |
+
"video.channels": 3,
|
| 686 |
+
"video.codec": "h264",
|
| 687 |
+
"video.pix_fmt": "yuv420p",
|
| 688 |
+
"video.is_depth_map": false,
|
| 689 |
+
"has_audio": false
|
| 690 |
+
}
|
| 691 |
+
},
|
| 692 |
+
"observation.environment.main_camera.image.aug7": {
|
| 693 |
+
"dtype": "video",
|
| 694 |
+
"shape": [
|
| 695 |
+
360,
|
| 696 |
+
640,
|
| 697 |
+
3
|
| 698 |
+
],
|
| 699 |
+
"names": [
|
| 700 |
+
"video"
|
| 701 |
+
],
|
| 702 |
+
"info": {
|
| 703 |
+
"video.fps": 50.0,
|
| 704 |
+
"video.height": 360,
|
| 705 |
+
"video.width": 640,
|
| 706 |
+
"video.channels": 3,
|
| 707 |
+
"video.codec": "h264",
|
| 708 |
+
"video.pix_fmt": "yuv420p",
|
| 709 |
+
"video.is_depth_map": false,
|
| 710 |
+
"has_audio": false
|
| 711 |
+
}
|
| 712 |
+
},
|
| 713 |
+
"observation.environment.main_camera.image.aug8": {
|
| 714 |
+
"dtype": "video",
|
| 715 |
+
"shape": [
|
| 716 |
+
360,
|
| 717 |
+
640,
|
| 718 |
+
3
|
| 719 |
+
],
|
| 720 |
+
"names": [
|
| 721 |
+
"video"
|
| 722 |
+
],
|
| 723 |
+
"info": {
|
| 724 |
+
"video.fps": 50.0,
|
| 725 |
+
"video.height": 360,
|
| 726 |
+
"video.width": 640,
|
| 727 |
+
"video.channels": 3,
|
| 728 |
+
"video.codec": "h264",
|
| 729 |
+
"video.pix_fmt": "yuv420p",
|
| 730 |
+
"video.is_depth_map": false,
|
| 731 |
+
"has_audio": false
|
| 732 |
+
}
|
| 733 |
+
},
|
| 734 |
+
"observation.environment.main_camera.image.aug9": {
|
| 735 |
+
"dtype": "video",
|
| 736 |
+
"shape": [
|
| 737 |
+
360,
|
| 738 |
+
640,
|
| 739 |
+
3
|
| 740 |
+
],
|
| 741 |
+
"names": [
|
| 742 |
+
"video"
|
| 743 |
+
],
|
| 744 |
+
"info": {
|
| 745 |
+
"video.fps": 50.0,
|
| 746 |
+
"video.height": 360,
|
| 747 |
+
"video.width": 640,
|
| 748 |
+
"video.channels": 3,
|
| 749 |
+
"video.codec": "h264",
|
| 750 |
+
"video.pix_fmt": "yuv420p",
|
| 751 |
+
"video.is_depth_map": false,
|
| 752 |
+
"has_audio": false
|
| 753 |
+
}
|
| 754 |
+
}
|
| 755 |
+
}
|
| 756 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick_tblock"}
|
videos/chunk-000/observation.environment.main_camera.image.aug1/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b7edeb81334b599d8017a725e3e5114c917223d4b6af3793c347921700eda47c
|
| 3 |
+
size 1387886
|
videos/chunk-000/observation.environment.main_camera.image.aug10/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e4b033c1e43c8c5913451736e80dfd5ccac4028d32aa7f376393d16fd54f24c1
|
| 3 |
+
size 1505198
|
videos/chunk-000/observation.environment.main_camera.image.aug11/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7377a2dcc1be530c624b0a5374a51b02f0155adfed99328a81fea95f07ea7dc6
|
| 3 |
+
size 336922
|
videos/chunk-000/observation.environment.main_camera.image.aug12/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:16d25e272221a69d518c102a28388f0dcfe11a703c50995aa36db6339cc38ffb
|
| 3 |
+
size 102700
|
videos/chunk-000/observation.environment.main_camera.image.aug2/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:be0138cc3b05ecb0d2e952268338ed4b687e03af28832fea866308b571b48d22
|
| 3 |
+
size 380439
|
videos/chunk-000/observation.environment.main_camera.image.aug3/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3549a13779dfeca8ac5824cb2b48c3ea7e9b2399b2329bffb2445f3786569305
|
| 3 |
+
size 142211
|
videos/chunk-000/observation.environment.main_camera.image.aug4/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:676f30336d2c22dea7ecd1b9622acc9f41e69831dbd507429fbb15cf73f8c98d
|
| 3 |
+
size 1398023
|
videos/chunk-000/observation.environment.main_camera.image.aug5/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bb35b7c4e62416752fcf9cd26802ff85c17f69671e05232e539851e3b940d064
|
| 3 |
+
size 357677
|
videos/chunk-000/observation.environment.main_camera.image.aug6/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:70a199aa9dd9510a36944137bdc8bc77396ecd75f4b97492a2b89fde71065674
|
| 3 |
+
size 114864
|
videos/chunk-000/observation.environment.main_camera.image.aug7/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5844c7026c7302693c07e5e8aa2b001323c3bdc40b56a969ed37d63fada6ed0b
|
| 3 |
+
size 1397706
|
videos/chunk-000/observation.environment.main_camera.image.aug8/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:65939c37ee79d35c81d05e575cf003de262a0647b509d8bcd598badb6309b2c8
|
| 3 |
+
size 367755
|
videos/chunk-000/observation.environment.main_camera.image.aug9/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:48a36b0631446b2346238dc262c2a481bffd4345b3348a01d0aa3d3255b92412
|
| 3 |
+
size 146066
|
videos/chunk-000/observation.environment.main_camera.image/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3aa13cf395223226dea7a32d84f258f9b741d96415be02e84bca5e8df61998f7
|
| 3 |
+
size 102756
|