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  1. .ipynb_checkpoints/1-checkpoint.py +72 -0
  2. long_horizon/bottle/data/chunk-000/episode_000000.parquet +3 -0
  3. long_horizon/bottle/data/chunk-000/episode_000001.parquet +3 -0
  4. long_horizon/bottle/data/chunk-000/episode_000002.parquet +3 -0
  5. long_horizon/bottle/data/chunk-000/episode_000003.parquet +3 -0
  6. long_horizon/bottle/data/chunk-000/episode_000004.parquet +3 -0
  7. long_horizon/bottle/data/chunk-000/episode_000005.parquet +3 -0
  8. long_horizon/bottle/data/chunk-000/episode_000006.parquet +3 -0
  9. long_horizon/bottle/data/chunk-000/episode_000007.parquet +3 -0
  10. long_horizon/bottle/data/chunk-000/episode_000008.parquet +3 -0
  11. long_horizon/bottle/data/chunk-000/episode_000009.parquet +3 -0
  12. long_horizon/bottle/data/chunk-000/episode_000010.parquet +3 -0
  13. long_horizon/bottle/data/chunk-000/episode_000011.parquet +3 -0
  14. long_horizon/bottle/data/chunk-000/episode_000012.parquet +3 -0
  15. long_horizon/bottle/data/chunk-000/episode_000013.parquet +3 -0
  16. long_horizon/bottle/data/chunk-000/episode_000014.parquet +3 -0
  17. long_horizon/bottle/data/chunk-000/episode_000015.parquet +3 -0
  18. long_horizon/bottle/data/chunk-000/episode_000016.parquet +3 -0
  19. long_horizon/bottle/data/chunk-000/episode_000017.parquet +3 -0
  20. long_horizon/bottle/data/chunk-000/episode_000018.parquet +3 -0
  21. long_horizon/bottle/data/chunk-000/episode_000019.parquet +3 -0
  22. long_horizon/bottle/data/chunk-000/episode_000020.parquet +3 -0
  23. long_horizon/bottle/data/chunk-000/episode_000021.parquet +3 -0
  24. long_horizon/bottle/data/chunk-000/episode_000022.parquet +3 -0
  25. long_horizon/bottle/data/chunk-000/episode_000023.parquet +3 -0
  26. long_horizon/bottle/data/chunk-000/episode_000024.parquet +3 -0
  27. long_horizon/bottle/data/chunk-000/episode_000025.parquet +3 -0
  28. long_horizon/bottle/data/chunk-000/episode_000026.parquet +3 -0
  29. long_horizon/bottle/data/chunk-000/episode_000027.parquet +3 -0
  30. long_horizon/bottle/data/chunk-000/episode_000028.parquet +3 -0
  31. long_horizon/bottle/data/chunk-000/episode_000029.parquet +3 -0
  32. long_horizon/bottle/data/chunk-000/episode_000030.parquet +3 -0
  33. long_horizon/bottle/data/chunk-000/episode_000031.parquet +3 -0
  34. long_horizon/bottle/data/chunk-000/episode_000032.parquet +3 -0
  35. long_horizon/bottle/data/chunk-000/episode_000033.parquet +3 -0
  36. long_horizon/bottle/data/chunk-000/episode_000034.parquet +3 -0
  37. long_horizon/bottle/data/chunk-000/episode_000035.parquet +3 -0
  38. long_horizon/bottle/data/chunk-000/episode_000036.parquet +3 -0
  39. long_horizon/bottle/data/chunk-000/episode_000037.parquet +3 -0
  40. long_horizon/bottle/data/chunk-000/episode_000038.parquet +3 -0
  41. long_horizon/bottle/data/chunk-000/episode_000039.parquet +3 -0
  42. long_horizon/bottle/data/chunk-000/episode_000040.parquet +3 -0
  43. long_horizon/bottle/data/chunk-000/episode_000041.parquet +3 -0
  44. long_horizon/bottle/data/chunk-000/episode_000042.parquet +3 -0
  45. long_horizon/bottle/data/chunk-000/episode_000043.parquet +3 -0
  46. long_horizon/bottle/data/chunk-000/episode_000044.parquet +3 -0
  47. long_horizon/bottle/data/chunk-000/episode_000045.parquet +3 -0
  48. long_horizon/bottle/data/chunk-000/episode_000046.parquet +3 -0
  49. long_horizon/bottle/data/chunk-000/episode_000047.parquet +3 -0
  50. long_horizon/bottle/data/chunk-000/episode_000048.parquet +3 -0
.ipynb_checkpoints/1-checkpoint.py ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ import json
2
+ from pathlib import Path
3
+
4
+ MODALITY = {
5
+ "action": {
6
+ "left_joints": {"start": 0, "end": 6, "original_key": "action.joints"},
7
+ "right_joints": {"start": 6, "end": 12, "original_key": "action.joints"},
8
+ "left_gripper": {"start": 0, "end": 2, "original_key": "action.gripper"},
9
+ "right_gripper": {"start": 2, "end": 4, "original_key": "action.gripper"},
10
+ "base_delta": {"start": 0, "end": 3, "original_key": "action.base_delta"}
11
+ },
12
+ "state": {
13
+ "left_joints": {"start": 0, "end": 6, "original_key": "state.joints"},
14
+ "right_joints": {"start": 6, "end": 12, "original_key": "state.joints"},
15
+ "left_gripper": {"start": 0, "end": 2, "original_key": "state.gripper"},
16
+ "right_gripper": {"start": 2, "end": 4, "original_key": "state.gripper"},
17
+ "base": {"start": 0, "end": 3, "original_key": "state.base"}
18
+ },
19
+ "video": {
20
+ "cam_high": {"original_key": "video.top_camera_view"},
21
+ "cam_left_wrist": {"original_key": "video.left_camera_view"},
22
+ "cam_right_wrist": {"original_key": "video.right_camera_view"}
23
+ },
24
+ "annotation": {
25
+ "human.action.task_description": {"original_key": "task_index"}
26
+ }
27
+ }
28
+
29
+ ROOT = Path("teleop_tasks")
30
+
31
+ for task_dir in ROOT.iterdir():
32
+ if not task_dir.is_dir():
33
+ continue
34
+
35
+ meta_dir = task_dir / "meta"
36
+ meta_dir.mkdir(parents=True, exist_ok=True)
37
+
38
+ out_file = meta_dir / "modality.json"
39
+ with open(out_file, "w", encoding="utf-8") as f:
40
+ json.dump(MODALITY, f, indent=4, ensure_ascii=False)
41
+
42
+ print(f"✓ written: {out_file}")
43
+
44
+ ROOT = Path("long_horizon")
45
+
46
+ for task_dir in ROOT.iterdir():
47
+ if not task_dir.is_dir():
48
+ continue
49
+
50
+ meta_dir = task_dir / "meta"
51
+ meta_dir.mkdir(parents=True, exist_ok=True)
52
+
53
+ out_file = meta_dir / "modality.json"
54
+ with open(out_file, "w", encoding="utf-8") as f:
55
+ json.dump(MODALITY, f, indent=4, ensure_ascii=False)
56
+
57
+ print(f"✓ written: {out_file}")
58
+
59
+ ROOT = Path("simple_pnp")
60
+
61
+ for task_dir in ROOT.iterdir():
62
+ if not task_dir.is_dir():
63
+ continue
64
+
65
+ meta_dir = task_dir / "meta"
66
+ meta_dir.mkdir(parents=True, exist_ok=True)
67
+
68
+ out_file = meta_dir / "modality.json"
69
+ with open(out_file, "w", encoding="utf-8") as f:
70
+ json.dump(MODALITY, f, indent=4, ensure_ascii=False)
71
+
72
+ print(f"✓ written: {out_file}")
long_horizon/bottle/data/chunk-000/episode_000000.parquet ADDED
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