Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/crisp_meta.json +80 -0
- meta/info.json +178 -0
- meta/stats.json +881 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.camera/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:a55a5ef107504dd367c7e59d6e405b0470a2f2f79f38329d2e265a404a1ee9eb
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size 297797
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meta/crisp_meta.json
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{
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"crisp_gym_version": "4.2.1",
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"crisp_py_version": "3.4.0",
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"control_type": "CARTESIAN",
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"env_config": {
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"robot_config": {
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"joint_names": [
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"fr3_joint1",
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"fr3_joint2",
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"fr3_joint3",
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"fr3_joint4",
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"fr3_joint5",
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"fr3_joint6",
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"fr3_joint7"
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],
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"home_config": [
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0,
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-0.7853981633974483,
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0,
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-2.356194490192345,
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0,
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1.5707963267948966,
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| 23 |
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0.7853981633974483
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],
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| 25 |
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"base_frame": "base",
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"target_frame": "fr3_hand_tcp",
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"default_controller": "cartesian_impedance_controller",
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| 28 |
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"cartesian_impedance_controller_name": "cartesian_impedance_controller",
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| 29 |
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"joint_trajectory_controller_name": "joint_impedance_controller",
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| 30 |
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"target_pose_topic": "target_pose",
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| 31 |
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"target_joint_topic": "target_joint",
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| 32 |
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"current_pose_topic": "current_pose",
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| 33 |
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"current_joint_topic": "joint_states",
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| 34 |
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"current_twist_topic": "current_twist",
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| 35 |
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"publish_frequency": 50.0,
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| 36 |
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"time_to_home": 5.0,
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| 37 |
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"max_pose_delay": 1.0,
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| 38 |
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"max_joint_delay": 1.0,
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| 39 |
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"use_tf_pose": false,
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| 40 |
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"tf_retrieve_rate": 50.0,
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| 41 |
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"use_prefix": false
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},
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| 43 |
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"gripper_config": {
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| 44 |
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"min_value": 0,
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| 45 |
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"max_value": 0.035,
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| 46 |
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"command_topic": "/franka_gripper/gripper_action",
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| 47 |
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"joint_state_topic": "/franka_gripper/joint_states",
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| 48 |
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"reboot_service": "/franka_gripper/stop",
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| 49 |
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"enable_torque_service": "/franka_gripper/enable_torque",
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| 50 |
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"index": 0,
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| 51 |
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"publish_frequency": 30.0,
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| 52 |
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"max_joint_delay": 1.0,
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| 53 |
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"max_delta": 1.0,
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| 54 |
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"use_gripper_command_action": true,
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| 55 |
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"max_effort": 10.0
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| 56 |
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},
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| 57 |
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"camera_config": [
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| 58 |
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{
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| 59 |
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"camera_color_image_topic": "/image_raw",
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| 60 |
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"camera_color_info_topic": "/camera_info",
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| 61 |
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"camera_name": "camera",
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| 62 |
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"camera_frame": "wrist_link",
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| 63 |
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"max_image_delay": 1.0,
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| 64 |
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"resolution": [
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256,
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| 66 |
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256
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| 67 |
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],
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| 68 |
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"crop_width": null,
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| 69 |
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"crop_height": null
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| 70 |
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}
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| 71 |
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],
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| 72 |
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"sensor_config": [],
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| 73 |
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"gripper_mode": "GripperMode.RELATIVE_BINARY",
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| 74 |
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"gripper_threshold": 0.1,
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| 75 |
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"cartesian_control_param_config": "None",
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| 76 |
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"joint_control_param_config": "None",
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| 77 |
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"orientation_representation": "OrientationRepresentation.EULER",
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| 78 |
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"use_relative_actions": true
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| 79 |
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}
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| 80 |
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}
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meta/info.json
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| 1 |
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{
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| 2 |
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"codebase_version": "v3.0",
|
| 3 |
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"robot_type": "franka",
|
| 4 |
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"total_episodes": 1,
|
| 5 |
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"total_frames": 1118,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
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"data_files_size_in_mb": 100,
|
| 9 |
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"video_files_size_in_mb": 500,
|
| 10 |
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"fps": 15,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:1"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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"observation.images.camera": {
|
| 18 |
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"dtype": "video",
|
| 19 |
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"shape": [
|
| 20 |
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256,
|
| 21 |
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256,
|
| 22 |
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3
|
| 23 |
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],
|
| 24 |
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"names": [
|
| 25 |
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"height",
|
| 26 |
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"width",
|
| 27 |
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"channels"
|
| 28 |
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],
|
| 29 |
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"video_info": {
|
| 30 |
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"video.fps": 30.0,
|
| 31 |
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"video.codec": "av1",
|
| 32 |
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"video.pix_fmt": "yuv420p",
|
| 33 |
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"video.is_depth_map": false,
|
| 34 |
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"has_audio": false
|
| 35 |
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},
|
| 36 |
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"info": {
|
| 37 |
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"video.height": 256,
|
| 38 |
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"video.width": 256,
|
| 39 |
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"video.codec": "av1",
|
| 40 |
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"video.pix_fmt": "yuv420p",
|
| 41 |
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"video.is_depth_map": false,
|
| 42 |
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"video.fps": 15,
|
| 43 |
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"video.channels": 3,
|
| 44 |
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"has_audio": false
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"observation.state.cartesian": {
|
| 48 |
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"dtype": "float32",
|
| 49 |
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"shape": [
|
| 50 |
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6
|
| 51 |
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],
|
| 52 |
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"names": [
|
| 53 |
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"x",
|
| 54 |
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"y",
|
| 55 |
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"z",
|
| 56 |
+
"roll",
|
| 57 |
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"pitch",
|
| 58 |
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"yaw"
|
| 59 |
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]
|
| 60 |
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},
|
| 61 |
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"observation.state.gripper": {
|
| 62 |
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"dtype": "float32",
|
| 63 |
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"shape": [
|
| 64 |
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1
|
| 65 |
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],
|
| 66 |
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"names": [
|
| 67 |
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"gripper"
|
| 68 |
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]
|
| 69 |
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},
|
| 70 |
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"observation.state.joints": {
|
| 71 |
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"dtype": "float32",
|
| 72 |
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"shape": [
|
| 73 |
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7
|
| 74 |
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],
|
| 75 |
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"names": [
|
| 76 |
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"joint_0",
|
| 77 |
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"joint_1",
|
| 78 |
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"joint_2",
|
| 79 |
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"joint_3",
|
| 80 |
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"joint_4",
|
| 81 |
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"joint_5",
|
| 82 |
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"joint_6"
|
| 83 |
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]
|
| 84 |
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},
|
| 85 |
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"observation.state.target": {
|
| 86 |
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"dtype": "float32",
|
| 87 |
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"shape": [
|
| 88 |
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6
|
| 89 |
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],
|
| 90 |
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"names": [
|
| 91 |
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"target_x",
|
| 92 |
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"target_y",
|
| 93 |
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"target_z",
|
| 94 |
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"target_roll",
|
| 95 |
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"target_pitch",
|
| 96 |
+
"target_yaw"
|
| 97 |
+
]
|
| 98 |
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},
|
| 99 |
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"observation.state": {
|
| 100 |
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"dtype": "float32",
|
| 101 |
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"shape": [
|
| 102 |
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20
|
| 103 |
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],
|
| 104 |
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"names": [
|
| 105 |
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"x",
|
| 106 |
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"y",
|
| 107 |
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"z",
|
| 108 |
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"roll",
|
| 109 |
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"pitch",
|
| 110 |
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"yaw",
|
| 111 |
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"gripper",
|
| 112 |
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"joint_0",
|
| 113 |
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"joint_1",
|
| 114 |
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"joint_2",
|
| 115 |
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"joint_3",
|
| 116 |
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"joint_4",
|
| 117 |
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"joint_5",
|
| 118 |
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"joint_6",
|
| 119 |
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"target_x",
|
| 120 |
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"target_y",
|
| 121 |
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"target_z",
|
| 122 |
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"target_roll",
|
| 123 |
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"target_pitch",
|
| 124 |
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"target_yaw"
|
| 125 |
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]
|
| 126 |
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},
|
| 127 |
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"action": {
|
| 128 |
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"dtype": "float32",
|
| 129 |
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"shape": [
|
| 130 |
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|
| 131 |
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],
|
| 132 |
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"names": [
|
| 133 |
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"x",
|
| 134 |
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"y",
|
| 135 |
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"z",
|
| 136 |
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"roll",
|
| 137 |
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"pitch",
|
| 138 |
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"yaw",
|
| 139 |
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"gripper"
|
| 140 |
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]
|
| 141 |
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},
|
| 142 |
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"timestamp": {
|
| 143 |
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"dtype": "float32",
|
| 144 |
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"shape": [
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| 145 |
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| 146 |
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],
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| 147 |
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"names": null
|
| 148 |
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},
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| 149 |
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"frame_index": {
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| 150 |
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"dtype": "int64",
|
| 151 |
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"shape": [
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| 152 |
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],
|
| 154 |
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"names": null
|
| 155 |
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},
|
| 156 |
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"episode_index": {
|
| 157 |
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"dtype": "int64",
|
| 158 |
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"shape": [
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| 159 |
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],
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| 161 |
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"names": null
|
| 162 |
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},
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| 163 |
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"index": {
|
| 164 |
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"dtype": "int64",
|
| 165 |
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"shape": [
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| 166 |
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],
|
| 168 |
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"names": null
|
| 169 |
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},
|
| 170 |
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"task_index": {
|
| 171 |
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"dtype": "int64",
|
| 172 |
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"shape": [
|
| 173 |
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1
|
| 174 |
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],
|
| 175 |
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"names": null
|
| 176 |
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}
|
| 177 |
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}
|
| 178 |
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}
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meta/stats.json
ADDED
|
@@ -0,0 +1,881 @@
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| 1 |
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| 2 |
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| 4 |
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| 26 |
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| 28 |
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| 32 |
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| 33 |
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| 34 |
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| 37 |
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| 54 |
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+
"q50": [
|
| 872 |
+
1.9999999999997088e-14
|
| 873 |
+
],
|
| 874 |
+
"q90": [
|
| 875 |
+
3.599999999999476e-14
|
| 876 |
+
],
|
| 877 |
+
"q99": [
|
| 878 |
+
3.9599999999994235e-14
|
| 879 |
+
]
|
| 880 |
+
}
|
| 881 |
+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f16a7f191004512c9e1d42276c04487f714f7d340cd9384331d92eefd1e2d42d
|
| 3 |
+
size 2116
|
videos/observation.images.camera/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d374f724672772915f10c60388428b2f74dc0cccfdfc71c0856db8d857965e63
|
| 3 |
+
size 3964948
|