Hugging Face's logo

Datasets:
kywanghyun
/
discoverse-train-data

Dataset card Files
xet
 Community
kywanghyun commited on
Commit
98cbe9c
·
verified ·
1 Parent(s): e64d6f2

Upload folder using huggingface_hub

Browse files
Files changed (28) hide show
  1. pose_randomized_fixed_visual/data/chunk-000/file-000.parquet +3 -0
  2. pose_randomized_fixed_visual/meta/episodes/chunk-000/file-000.parquet +3 -0
  3. pose_randomized_fixed_visual/meta/info.json +117 -0
  4. pose_randomized_fixed_visual/meta/stats.json +650 -0
  5. pose_randomized_fixed_visual/meta/tasks.parquet +3 -0
  6. pose_randomized_fixed_visual/source_metadata/dataset_manifest.json +17 -0
  7. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0000_episode_metadata.json +73 -0
  8. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0000_scene_snapshot.json +79 -0
  9. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0000_variables.json +67 -0
  10. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0001_episode_metadata.json +73 -0
  11. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0001_scene_snapshot.json +79 -0
  12. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0001_variables.json +67 -0
  13. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0002_episode_metadata.json +73 -0
  14. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0002_scene_snapshot.json +79 -0
  15. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0002_variables.json +67 -0
  16. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0003_episode_metadata.json +73 -0
  17. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0003_scene_snapshot.json +79 -0
  18. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0003_variables.json +67 -0
  19. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0004_episode_metadata.json +73 -0
  20. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0004_scene_snapshot.json +79 -0
  21. pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0004_variables.json +67 -0
  22. pose_randomized_fixed_visual/videos/observation.images.global_cam/chunk-000/file-000.mp4 +3 -0
  23. pose_randomized_fixed_visual/videos/observation.images.global_cam/chunk-000/file-001.mp4 +3 -0
  24. pose_randomized_fixed_visual/videos/observation.images.global_cam/chunk-000/file-002.mp4 +3 -0
  25. pose_randomized_fixed_visual/videos/observation.images.global_cam/chunk-000/file-003.mp4 +3 -0
  26. pose_randomized_fixed_visual/videos/observation.images.wrist_cam/chunk-000/file-000.mp4 +3 -0
  27. pose_randomized_fixed_visual/videos/observation.images.wrist_cam/chunk-000/file-001.mp4 +3 -0
  28. pose_randomized_fixed_visual/videos/observation.images.wrist_cam/chunk-000/file-002.mp4 +3 -0
pose_randomized_fixed_visual/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ec7d6f3c823c68ebee4e28a53f821ef28c081a93019650f4250fe80ca97c64d4
3
+ size 4860293
pose_randomized_fixed_visual/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0070ab9eb043b15dd6c1907d2cde492cc8e75d8b34a0e2e4ddebf58c03b5099b
3
+ size 2159211
pose_randomized_fixed_visual/meta/info.json ADDED
@@ -0,0 +1,117 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": null,
4
+ "total_episodes": 500,
5
+ "total_frames": 56037,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:500"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.images.global_cam": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 3,
21
+ 480,
22
+ 640
23
+ ],
24
+ "names": [
25
+ "c",
26
+ "h",
27
+ "w"
28
+ ],
29
+ "info": {
30
+ "video.height": 480,
31
+ "video.width": 640,
32
+ "video.codec": "av1",
33
+ "video.pix_fmt": "yuv420p",
34
+ "video.is_depth_map": false,
35
+ "video.fps": 30,
36
+ "video.channels": 3,
37
+ "has_audio": false
38
+ }
39
+ },
40
+ "observation.images.wrist_cam": {
41
+ "dtype": "video",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ],
47
+ "names": [
48
+ "c",
49
+ "h",
50
+ "w"
51
+ ],
52
+ "info": {
53
+ "video.height": 480,
54
+ "video.width": 640,
55
+ "video.codec": "av1",
56
+ "video.pix_fmt": "yuv420p",
57
+ "video.is_depth_map": false,
58
+ "video.fps": 30,
59
+ "video.channels": 3,
60
+ "has_audio": false
61
+ }
62
+ },
63
+ "observation.state": {
64
+ "dtype": "float32",
65
+ "shape": [
66
+ 7
67
+ ],
68
+ "names": [
69
+ "dim"
70
+ ]
71
+ },
72
+ "action": {
73
+ "dtype": "float32",
74
+ "shape": [
75
+ 7
76
+ ],
77
+ "names": [
78
+ "dim"
79
+ ]
80
+ },
81
+ "timestamp": {
82
+ "dtype": "float32",
83
+ "shape": [
84
+ 1
85
+ ],
86
+ "names": null
87
+ },
88
+ "frame_index": {
89
+ "dtype": "int64",
90
+ "shape": [
91
+ 1
92
+ ],
93
+ "names": null
94
+ },
95
+ "episode_index": {
96
+ "dtype": "int64",
97
+ "shape": [
98
+ 1
99
+ ],
100
+ "names": null
101
+ },
102
+ "index": {
103
+ "dtype": "int64",
104
+ "shape": [
105
+ 1
106
+ ],
107
+ "names": null
108
+ },
109
+ "task_index": {
110
+ "dtype": "int64",
111
+ "shape": [
112
+ 1
113
+ ],
114
+ "names": null
115
+ }
116
+ }
117
+ }
pose_randomized_fixed_visual/meta/stats.json ADDED
@@ -0,0 +1,650 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 4.466666666666667
8
+ ],
9
+ "mean": [
10
+ 1.8569927012509595
11
+ ],
12
+ "std": [
13
+ 1.088495344469725
14
+ ],
15
+ "count": [
16
+ 56037
17
+ ],
18
+ "q01": [
19
+ 0.03311044450565155
20
+ ],
21
+ "q10": [
22
+ 0.3567919574234818
23
+ ],
24
+ "q50": [
25
+ 1.8487303055714643
26
+ ],
27
+ "q90": [
28
+ 3.354113472917019
29
+ ],
30
+ "q99": [
31
+ 3.68087495799627
32
+ ]
33
+ },
34
+ "index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 56036
40
+ ],
41
+ "mean": [
42
+ 28018.0
43
+ ],
44
+ "std": [
45
+ 16176.48851471378
46
+ ],
47
+ "count": [
48
+ 56037
49
+ ],
50
+ "q01": [
51
+ 27963.28353230052
52
+ ],
53
+ "q10": [
54
+ 27972.99397768748
55
+ ],
56
+ "q50": [
57
+ 28017.753696950243
58
+ ],
59
+ "q90": [
60
+ 28062.913623147648
61
+ ],
62
+ "q99": [
63
+ 28072.716467699487
64
+ ]
65
+ },
66
+ "task_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 0
72
+ ],
73
+ "mean": [
74
+ 0.0
75
+ ],
76
+ "std": [
77
+ 0.0
78
+ ],
79
+ "count": [
80
+ 56037
81
+ ],
82
+ "q01": [
83
+ 3.999999999999416e-16
84
+ ],
85
+ "q10": [
86
+ 3.999999999999413e-15
87
+ ],
88
+ "q50": [
89
+ 1.999999999999707e-14
90
+ ],
91
+ "q90": [
92
+ 3.599999999999474e-14
93
+ ],
94
+ "q99": [
95
+ 3.959999999999423e-14
96
+ ]
97
+ },
98
+ "observation.state": {
99
+ "min": [
100
+ -0.524480938911438,
101
+ 1.155811071395874,
102
+ -1.417487621307373,
103
+ -0.4944433867931366,
104
+ 0.3457948863506317,
105
+ -0.673207700252533,
106
+ 0.006676585413515568
107
+ ],
108
+ "max": [
109
+ 0.9734084010124207,
110
+ 2.0855581760406494,
111
+ -0.45322248339653015,
112
+ 0.22965314984321594,
113
+ 1.0190016031265259,
114
+ 1.304121494293213,
115
+ 0.044370755553245544
116
+ ],
117
+ "mean": [
118
+ 0.28812194754176124,
119
+ 1.641724622294064,
120
+ -0.9480867014155581,
121
+ -0.15640461993073115,
122
+ 0.7170140938746764,
123
+ 0.39534658306903586,
124
+ 0.026287422523346295
125
+ ],
126
+ "std": [
127
+ 0.3399727248018202,
128
+ 0.17911319430619524,
129
+ 0.175231846912385,
130
+ 0.1525241832931311,
131
+ 0.15273909849600367,
132
+ 0.4509044343863959,
133
+ 0.013159275343083714
134
+ ],
135
+ "count": [
136
+ 56037
137
+ ],
138
+ "q01": [
139
+ -0.16732196861564386,
140
+ 1.370708863863392,
141
+ -1.154751439850787,
142
+ -0.31437876527018843,
143
+ 0.5163588164247229,
144
+ -0.2067296597250392,
145
+ 0.012938797192057955
146
+ ],
147
+ "q10": [
148
+ -0.13608701970084466,
149
+ 1.4514167200462351,
150
+ -1.0933052075264058,
151
+ -0.3139568749568427,
152
+ 0.5321096359821205,
153
+ -0.16038376491513123,
154
+ 0.013741111871079908
155
+ ],
156
+ "q50": [
157
+ 0.38894819988060003,
158
+ 1.6405947567418364,
159
+ -0.9635292020211838,
160
+ -0.1778348351899039,
161
+ 0.7189333741698966,
162
+ 0.5015568977758236,
163
+ 0.017355425533065186
164
+ ],
165
+ "q90": [
166
+ 0.5829763844171081,
167
+ 1.8283428667500543,
168
+ -0.7673549929031802,
169
+ 0.019276032320274014,
170
+ 0.9036013284753232,
171
+ 0.8223267679797135,
172
+ 0.04000293130957981
173
+ ],
174
+ "q99": [
175
+ 0.5882049968224943,
176
+ 1.8448469439631388,
177
+ -0.7337466987523239,
178
+ 0.04711710932678768,
179
+ 0.9954164667467608,
180
+ 0.8224825577597691,
181
+ 0.04250122623923803
182
+ ]
183
+ },
184
+ "frame_index": {
185
+ "min": [
186
+ 0
187
+ ],
188
+ "max": [
189
+ 134
190
+ ],
191
+ "mean": [
192
+ 55.70978103752878
193
+ ],
194
+ "std": [
195
+ 32.65486033409167
196
+ ],
197
+ "count": [
198
+ 56037
199
+ ],
200
+ "q01": [
201
+ 0.9933133380176769
202
+ ],
203
+ "q10": [
204
+ 10.703758725047251
205
+ ],
206
+ "q50": [
207
+ 55.4628264682259
208
+ ],
209
+ "q90": [
210
+ 100.62340418517269
211
+ ],
212
+ "q99": [
213
+ 110.42624873703973
214
+ ]
215
+ },
216
+ "observation.images.global_cam": {
217
+ "min": [
218
+ [
219
+ [
220
+ 0.0
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.0
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.0
231
+ ]
232
+ ]
233
+ ],
234
+ "max": [
235
+ [
236
+ [
237
+ 1.0
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 1.0
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 1.0
248
+ ]
249
+ ]
250
+ ],
251
+ "mean": [
252
+ [
253
+ [
254
+ 0.5855231478227125
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.5432032561764711
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.4611538390931369
265
+ ]
266
+ ]
267
+ ],
268
+ "std": [
269
+ [
270
+ [
271
+ 0.002901523888454133
272
+ ]
273
+ ],
274
+ [
275
+ [
276
+ 0.0026167681566692832
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ 0.0014672036116346937
282
+ ]
283
+ ]
284
+ ],
285
+ "count": [
286
+ 50000
287
+ ],
288
+ "q01": [
289
+ [
290
+ [
291
+ 0.06424402274284455
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.06242505940823492
297
+ ]
298
+ ],
299
+ [
300
+ [
301
+ 0.061027047472943484
302
+ ]
303
+ ]
304
+ ],
305
+ "q10": [
306
+ [
307
+ [
308
+ 0.3164109954819375
309
+ ]
310
+ ],
311
+ [
312
+ [
313
+ 0.30411763608813497
314
+ ]
315
+ ],
316
+ [
317
+ [
318
+ 0.2832297483757518
319
+ ]
320
+ ]
321
+ ],
322
+ "q50": [
323
+ [
324
+ [
325
+ 0.6408447978517016
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.5909610606079434
331
+ ]
332
+ ],
333
+ [
334
+ [
335
+ 0.4918677606735091
336
+ ]
337
+ ]
338
+ ],
339
+ "q90": [
340
+ [
341
+ [
342
+ 0.7663432872852808
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 0.7109190891290365
348
+ ]
349
+ ],
350
+ [
351
+ [
352
+ 0.6019822520913287
353
+ ]
354
+ ]
355
+ ],
356
+ "q99": [
357
+ [
358
+ [
359
+ 0.9885301760378349
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.9899299861696746
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.8847233601076073
370
+ ]
371
+ ]
372
+ ]
373
+ },
374
+ "observation.images.wrist_cam": {
375
+ "min": [
376
+ [
377
+ [
378
+ 0.0
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.0
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.0
389
+ ]
390
+ ]
391
+ ],
392
+ "max": [
393
+ [
394
+ [
395
+ 1.0
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 1.0
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ "mean": [
410
+ [
411
+ [
412
+ 0.5323448091217324
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.4783246082516342
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.3918846029166663
423
+ ]
424
+ ]
425
+ ],
426
+ "std": [
427
+ [
428
+ [
429
+ 0.004854540821981909
430
+ ]
431
+ ],
432
+ [
433
+ [
434
+ 0.006975022078954436
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ 0.005016155001851911
440
+ ]
441
+ ]
442
+ ],
443
+ "count": [
444
+ 50000
445
+ ],
446
+ "q01": [
447
+ [
448
+ [
449
+ 0.07441396035470806
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.07440950977161916
455
+ ]
456
+ ],
457
+ [
458
+ [
459
+ 0.07440436927623495
460
+ ]
461
+ ]
462
+ ],
463
+ "q10": [
464
+ [
465
+ [
466
+ 0.07458645745213487
467
+ ]
468
+ ],
469
+ [
470
+ [
471
+ 0.07458039232499886
472
+ ]
473
+ ],
474
+ [
475
+ [
476
+ 0.07457512166503243
477
+ ]
478
+ ]
479
+ ],
480
+ "q50": [
481
+ [
482
+ [
483
+ 0.6018058610116078
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.5280083999255356
489
+ ]
490
+ ],
491
+ [
492
+ [
493
+ 0.42449726029181073
494
+ ]
495
+ ]
496
+ ],
497
+ "q90": [
498
+ [
499
+ [
500
+ 0.8597882952645136
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 0.7921415678899341
506
+ ]
507
+ ],
508
+ [
509
+ [
510
+ 0.6380512334579043
511
+ ]
512
+ ]
513
+ ],
514
+ "q99": [
515
+ [
516
+ [
517
+ 0.9928580538197163
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.9212216058359043
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.8067708176113789
528
+ ]
529
+ ]
530
+ ]
531
+ },
532
+ "episode_index": {
533
+ "min": [
534
+ 0
535
+ ],
536
+ "max": [
537
+ 499
538
+ ],
539
+ "mean": [
540
+ 250.05785463176116
541
+ ],
542
+ "std": [
543
+ 144.25485349060222
544
+ ],
545
+ "count": [
546
+ 56037
547
+ ],
548
+ "q01": [
549
+ 250.05785463176116
550
+ ],
551
+ "q10": [
552
+ 250.05785463176116
553
+ ],
554
+ "q50": [
555
+ 250.05785463176116
556
+ ],
557
+ "q90": [
558
+ 250.05785463176116
559
+ ],
560
+ "q99": [
561
+ 250.05785463176116
562
+ ]
563
+ },
564
+ "action": {
565
+ "min": [
566
+ -0.5245795249938965,
567
+ 1.1476067304611206,
568
+ -1.4278737306594849,
569
+ -0.5022516846656799,
570
+ 0.33236926794052124,
571
+ -0.6757320761680603,
572
+ 0.0
573
+ ],
574
+ "max": [
575
+ 0.9785029292106628,
576
+ 2.082721471786499,
577
+ -0.45857805013656616,
578
+ 0.2319791316986084,
579
+ 1.022526741027832,
580
+ 1.3091706037521362,
581
+ 1.0
582
+ ],
583
+ "mean": [
584
+ 0.28543800093506244,
585
+ 1.636502229031606,
586
+ -0.9493425082789819,
587
+ -0.15644741001482543,
588
+ 0.7101967991592903,
589
+ 0.39249223557974544,
590
+ 0.4883916027288054
591
+ ],
592
+ "std": [
593
+ 0.3470655836221492,
594
+ 0.1790501950195341,
595
+ 0.17744903524140193,
596
+ 0.15500207729098261,
597
+ 0.15269807496689866,
598
+ 0.4591261459061027,
599
+ 0.499865226912963
600
+ ],
601
+ "count": [
602
+ 56037
603
+ ],
604
+ "q01": [
605
+ -0.16026833835864016,
606
+ 1.3732675939113417,
607
+ -1.1570593320026998,
608
+ -0.317251128423758,
609
+ 0.5007457137884319,
610
+ -0.1978043675515444,
611
+ -1.000000013351432e-10
612
+ ],
613
+ "q10": [
614
+ -0.13563193612881697,
615
+ 1.4527651600009839,
616
+ -1.0947948534737326,
617
+ -0.3145226190128041,
618
+ 0.5290189499294111,
619
+ -0.16096595802803185,
620
+ -1.000000013351432e-10
621
+ ],
622
+ "q50": [
623
+ 0.3910106629881457,
624
+ 1.635684168021806,
625
+ -0.9663720991276297,
626
+ -0.1804725269577089,
627
+ 0.7191306086731979,
628
+ 0.5054375311599306,
629
+ 0.2781192128751048
630
+ ],
631
+ "q90": [
632
+ 0.5866823899709771,
633
+ 1.8219663034309324,
634
+ -0.7747840269928074,
635
+ 0.01958769281471899,
636
+ 0.9036760962326846,
637
+ 0.8224179980920985,
638
+ 0.9999589662243715
639
+ ],
640
+ "q99": [
641
+ 0.5910718133312998,
642
+ 1.8387867338778479,
643
+ -0.7340212708306733,
644
+ 0.042917425049175215,
645
+ 0.9783013151910265,
646
+ 0.8261906499141703,
647
+ 0.999995896622438
648
+ ]
649
+ }
650
+ }
pose_randomized_fixed_visual/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3faf25af91d0e91d0ab187a0c3a63f47e8eaf26737bf3ffbeac36483895d23a9
3
+ size 2171
pose_randomized_fixed_visual/source_metadata/dataset_manifest.json ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_name": "piper",
3
+ "task_name": "place_block",
4
+ "num_samples_target": 500,
5
+ "base_seed": 1000,
6
+ "randomization": {
7
+ "object_position_only": true,
8
+ "bowl_position_only": true,
9
+ "texture_randomized": false,
10
+ "light_randomized": false,
11
+ "object_name": "block_green",
12
+ "bowl_name": "bowl_pink",
13
+ "object_xy_range": 0.08,
14
+ "bowl_xy_range": 0.08,
15
+ "min_object_bowl_dist": 0.06
16
+ }
17
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0000_episode_metadata.json ADDED
@@ -0,0 +1,73 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "success": true,
3
+ "step_count": 362,
4
+ "sample_idx": 0,
5
+ "episode_seed": 1001,
6
+ "episode_variables": {
7
+ "seed": 1001,
8
+ "object_initial_qpos": [
9
+ 0.0,
10
+ 1.4,
11
+ -1.1,
12
+ 0.0,
13
+ 1.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ -0.03100285127219113,
18
+ 0.8124101704972009,
19
+ 0.7145,
20
+ 1.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ -0.04863038989581577,
25
+ 1.0188834362507277,
26
+ 0.6988,
27
+ 1.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0
33
+ ],
34
+ "material_choice": "fixed_default_material",
35
+ "texture_choice": "fixed_default_texture",
36
+ "randomizer_internal_choices": {
37
+ "position_randomization_only": true,
38
+ "texture_randomized": false,
39
+ "light_randomized": false,
40
+ "object_name": "block_green",
41
+ "bowl_name": "bowl_pink",
42
+ "object_pose": {
43
+ "pos": [
44
+ -0.03100285127219113,
45
+ 0.8124101704972009,
46
+ 0.7145
47
+ ],
48
+ "quat": [
49
+ 1.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0
53
+ ]
54
+ },
55
+ "bowl_pose": {
56
+ "pos": [
57
+ -0.04863038989581577,
58
+ 1.0188834362507277,
59
+ 0.6988
60
+ ],
61
+ "quat": [
62
+ 1.0,
63
+ 0.0,
64
+ 0.0,
65
+ 0.0
66
+ ]
67
+ },
68
+ "object_xy_range": 0.08,
69
+ "bowl_xy_range": 0.08,
70
+ "min_object_bowl_dist": 0.06
71
+ }
72
+ }
73
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0000_scene_snapshot.json ADDED
@@ -0,0 +1,79 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "qpos": [
3
+ 0.0,
4
+ 1.4,
5
+ -1.1,
6
+ 0.0,
7
+ 1.0,
8
+ 0.0,
9
+ 0.0,
10
+ 0.0,
11
+ -0.03100285127219113,
12
+ 0.8124101704972009,
13
+ 0.7145,
14
+ 1.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ -0.04863038989581577,
19
+ 1.0188834362507277,
20
+ 0.6988,
21
+ 1.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0
27
+ ],
28
+ "qvel": [
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0
51
+ ],
52
+ "act": [],
53
+ "ctrl": [
54
+ 0.0,
55
+ 1.4,
56
+ -1.1,
57
+ 0.0,
58
+ 1.0,
59
+ 0.0,
60
+ 0.0
61
+ ],
62
+ "mocap_pos": [
63
+ [
64
+ -0.007297383305951269,
65
+ 0.9985828538890632,
66
+ 0.8788984072514017
67
+ ]
68
+ ],
69
+ "mocap_quat": [
70
+ [
71
+ -4.4723078767568703e-07,
72
+ -0.5698939878004969,
73
+ -4.404831832112132e-07,
74
+ 0.8217182258344113
75
+ ]
76
+ ],
77
+ "userdata": [],
78
+ "time": 0.0
79
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0000_variables.json ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seed": 1001,
3
+ "object_initial_qpos": [
4
+ 0.0,
5
+ 1.4,
6
+ -1.1,
7
+ 0.0,
8
+ 1.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ -0.03100285127219113,
13
+ 0.8124101704972009,
14
+ 0.7145,
15
+ 1.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ -0.04863038989581577,
20
+ 1.0188834362507277,
21
+ 0.6988,
22
+ 1.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0
28
+ ],
29
+ "material_choice": "fixed_default_material",
30
+ "texture_choice": "fixed_default_texture",
31
+ "randomizer_internal_choices": {
32
+ "position_randomization_only": true,
33
+ "texture_randomized": false,
34
+ "light_randomized": false,
35
+ "object_name": "block_green",
36
+ "bowl_name": "bowl_pink",
37
+ "object_pose": {
38
+ "pos": [
39
+ -0.03100285127219113,
40
+ 0.8124101704972009,
41
+ 0.7145
42
+ ],
43
+ "quat": [
44
+ 1.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0
48
+ ]
49
+ },
50
+ "bowl_pose": {
51
+ "pos": [
52
+ -0.04863038989581577,
53
+ 1.0188834362507277,
54
+ 0.6988
55
+ ],
56
+ "quat": [
57
+ 1.0,
58
+ 0.0,
59
+ 0.0,
60
+ 0.0
61
+ ]
62
+ },
63
+ "object_xy_range": 0.08,
64
+ "bowl_xy_range": 0.08,
65
+ "min_object_bowl_dist": 0.06
66
+ }
67
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0001_episode_metadata.json ADDED
@@ -0,0 +1,73 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "success": true,
3
+ "step_count": 361,
4
+ "sample_idx": 1,
5
+ "episode_seed": 1002,
6
+ "episode_variables": {
7
+ "seed": 1002,
8
+ "object_initial_qpos": [
9
+ 0.0,
10
+ 1.4,
11
+ -1.1,
12
+ 0.0,
13
+ 1.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ -0.05936187381410081,
18
+ 0.8437849892467695,
19
+ 0.7145,
20
+ 1.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ -0.013415370996248413,
25
+ 1.0464358770522508,
26
+ 0.6988,
27
+ 1.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0
33
+ ],
34
+ "material_choice": "fixed_default_material",
35
+ "texture_choice": "fixed_default_texture",
36
+ "randomizer_internal_choices": {
37
+ "position_randomization_only": true,
38
+ "texture_randomized": false,
39
+ "light_randomized": false,
40
+ "object_name": "block_green",
41
+ "bowl_name": "bowl_pink",
42
+ "object_pose": {
43
+ "pos": [
44
+ -0.05936187381410081,
45
+ 0.8437849892467695,
46
+ 0.7145
47
+ ],
48
+ "quat": [
49
+ 1.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0
53
+ ]
54
+ },
55
+ "bowl_pose": {
56
+ "pos": [
57
+ -0.013415370996248413,
58
+ 1.0464358770522508,
59
+ 0.6988
60
+ ],
61
+ "quat": [
62
+ 1.0,
63
+ 0.0,
64
+ 0.0,
65
+ 0.0
66
+ ]
67
+ },
68
+ "object_xy_range": 0.08,
69
+ "bowl_xy_range": 0.08,
70
+ "min_object_bowl_dist": 0.06
71
+ }
72
+ }
73
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0001_scene_snapshot.json ADDED
@@ -0,0 +1,79 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "qpos": [
3
+ 0.0,
4
+ 1.4,
5
+ -1.1,
6
+ 0.0,
7
+ 1.0,
8
+ 0.0,
9
+ 0.0,
10
+ 0.0,
11
+ -0.05936187381410081,
12
+ 0.8437849892467695,
13
+ 0.7145,
14
+ 1.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ -0.013415370996248413,
19
+ 1.0464358770522508,
20
+ 0.6988,
21
+ 1.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0
27
+ ],
28
+ "qvel": [
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0
51
+ ],
52
+ "act": [],
53
+ "ctrl": [
54
+ 0.0,
55
+ 1.4,
56
+ -1.1,
57
+ 0.0,
58
+ 1.0,
59
+ 0.0,
60
+ 0.0
61
+ ],
62
+ "mocap_pos": [
63
+ [
64
+ -0.007297383305951269,
65
+ 0.9985828538890632,
66
+ 0.8788984072514017
67
+ ]
68
+ ],
69
+ "mocap_quat": [
70
+ [
71
+ -4.4723078767568703e-07,
72
+ -0.5698939878004969,
73
+ -4.404831832112132e-07,
74
+ 0.8217182258344113
75
+ ]
76
+ ],
77
+ "userdata": [],
78
+ "time": 0.0
79
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0001_variables.json ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seed": 1002,
3
+ "object_initial_qpos": [
4
+ 0.0,
5
+ 1.4,
6
+ -1.1,
7
+ 0.0,
8
+ 1.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ -0.05936187381410081,
13
+ 0.8437849892467695,
14
+ 0.7145,
15
+ 1.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ -0.013415370996248413,
20
+ 1.0464358770522508,
21
+ 0.6988,
22
+ 1.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0
28
+ ],
29
+ "material_choice": "fixed_default_material",
30
+ "texture_choice": "fixed_default_texture",
31
+ "randomizer_internal_choices": {
32
+ "position_randomization_only": true,
33
+ "texture_randomized": false,
34
+ "light_randomized": false,
35
+ "object_name": "block_green",
36
+ "bowl_name": "bowl_pink",
37
+ "object_pose": {
38
+ "pos": [
39
+ -0.05936187381410081,
40
+ 0.8437849892467695,
41
+ 0.7145
42
+ ],
43
+ "quat": [
44
+ 1.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0
48
+ ]
49
+ },
50
+ "bowl_pose": {
51
+ "pos": [
52
+ -0.013415370996248413,
53
+ 1.0464358770522508,
54
+ 0.6988
55
+ ],
56
+ "quat": [
57
+ 1.0,
58
+ 0.0,
59
+ 0.0,
60
+ 0.0
61
+ ]
62
+ },
63
+ "object_xy_range": 0.08,
64
+ "bowl_xy_range": 0.08,
65
+ "min_object_bowl_dist": 0.06
66
+ }
67
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0002_episode_metadata.json ADDED
@@ -0,0 +1,73 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "success": true,
3
+ "step_count": 374,
4
+ "sample_idx": 2,
5
+ "episode_seed": 1003,
6
+ "episode_variables": {
7
+ "seed": 1003,
8
+ "object_initial_qpos": [
9
+ 0.0,
10
+ 1.4,
11
+ -1.1,
12
+ 0.0,
13
+ 1.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.015648927694395326,
18
+ 0.8397494062175902,
19
+ 0.7145,
20
+ 1.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ -0.07730080097734428,
25
+ 1.0454699933427525,
26
+ 0.6988,
27
+ 1.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0
33
+ ],
34
+ "material_choice": "fixed_default_material",
35
+ "texture_choice": "fixed_default_texture",
36
+ "randomizer_internal_choices": {
37
+ "position_randomization_only": true,
38
+ "texture_randomized": false,
39
+ "light_randomized": false,
40
+ "object_name": "block_green",
41
+ "bowl_name": "bowl_pink",
42
+ "object_pose": {
43
+ "pos": [
44
+ 0.015648927694395326,
45
+ 0.8397494062175902,
46
+ 0.7145
47
+ ],
48
+ "quat": [
49
+ 1.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0
53
+ ]
54
+ },
55
+ "bowl_pose": {
56
+ "pos": [
57
+ -0.07730080097734428,
58
+ 1.0454699933427525,
59
+ 0.6988
60
+ ],
61
+ "quat": [
62
+ 1.0,
63
+ 0.0,
64
+ 0.0,
65
+ 0.0
66
+ ]
67
+ },
68
+ "object_xy_range": 0.08,
69
+ "bowl_xy_range": 0.08,
70
+ "min_object_bowl_dist": 0.06
71
+ }
72
+ }
73
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0002_scene_snapshot.json ADDED
@@ -0,0 +1,79 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "qpos": [
3
+ 0.0,
4
+ 1.4,
5
+ -1.1,
6
+ 0.0,
7
+ 1.0,
8
+ 0.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.015648927694395326,
12
+ 0.8397494062175902,
13
+ 0.7145,
14
+ 1.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ -0.07730080097734428,
19
+ 1.0454699933427525,
20
+ 0.6988,
21
+ 1.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0
27
+ ],
28
+ "qvel": [
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0
51
+ ],
52
+ "act": [],
53
+ "ctrl": [
54
+ 0.0,
55
+ 1.4,
56
+ -1.1,
57
+ 0.0,
58
+ 1.0,
59
+ 0.0,
60
+ 0.0
61
+ ],
62
+ "mocap_pos": [
63
+ [
64
+ -0.007297383305951269,
65
+ 0.9985828538890632,
66
+ 0.8788984072514017
67
+ ]
68
+ ],
69
+ "mocap_quat": [
70
+ [
71
+ -4.4723078767568703e-07,
72
+ -0.5698939878004969,
73
+ -4.404831832112132e-07,
74
+ 0.8217182258344113
75
+ ]
76
+ ],
77
+ "userdata": [],
78
+ "time": 0.0
79
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0002_variables.json ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seed": 1003,
3
+ "object_initial_qpos": [
4
+ 0.0,
5
+ 1.4,
6
+ -1.1,
7
+ 0.0,
8
+ 1.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.015648927694395326,
13
+ 0.8397494062175902,
14
+ 0.7145,
15
+ 1.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ -0.07730080097734428,
20
+ 1.0454699933427525,
21
+ 0.6988,
22
+ 1.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0
28
+ ],
29
+ "material_choice": "fixed_default_material",
30
+ "texture_choice": "fixed_default_texture",
31
+ "randomizer_internal_choices": {
32
+ "position_randomization_only": true,
33
+ "texture_randomized": false,
34
+ "light_randomized": false,
35
+ "object_name": "block_green",
36
+ "bowl_name": "bowl_pink",
37
+ "object_pose": {
38
+ "pos": [
39
+ 0.015648927694395326,
40
+ 0.8397494062175902,
41
+ 0.7145
42
+ ],
43
+ "quat": [
44
+ 1.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0
48
+ ]
49
+ },
50
+ "bowl_pose": {
51
+ "pos": [
52
+ -0.07730080097734428,
53
+ 1.0454699933427525,
54
+ 0.6988
55
+ ],
56
+ "quat": [
57
+ 1.0,
58
+ 0.0,
59
+ 0.0,
60
+ 0.0
61
+ ]
62
+ },
63
+ "object_xy_range": 0.08,
64
+ "bowl_xy_range": 0.08,
65
+ "min_object_bowl_dist": 0.06
66
+ }
67
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0003_episode_metadata.json ADDED
@@ -0,0 +1,73 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "success": true,
3
+ "step_count": 361,
4
+ "sample_idx": 3,
5
+ "episode_seed": 1004,
6
+ "episode_variables": {
7
+ "seed": 1004,
8
+ "object_initial_qpos": [
9
+ 0.0,
10
+ 1.4,
11
+ -1.1,
12
+ 0.0,
13
+ 1.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ -0.0737677378422147,
18
+ 0.9070393376141184,
19
+ 0.7145,
20
+ 1.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.039440049273129565,
25
+ 1.088228462919185,
26
+ 0.6988,
27
+ 1.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0
33
+ ],
34
+ "material_choice": "fixed_default_material",
35
+ "texture_choice": "fixed_default_texture",
36
+ "randomizer_internal_choices": {
37
+ "position_randomization_only": true,
38
+ "texture_randomized": false,
39
+ "light_randomized": false,
40
+ "object_name": "block_green",
41
+ "bowl_name": "bowl_pink",
42
+ "object_pose": {
43
+ "pos": [
44
+ -0.0737677378422147,
45
+ 0.9070393376141184,
46
+ 0.7145
47
+ ],
48
+ "quat": [
49
+ 1.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0
53
+ ]
54
+ },
55
+ "bowl_pose": {
56
+ "pos": [
57
+ 0.039440049273129565,
58
+ 1.088228462919185,
59
+ 0.6988
60
+ ],
61
+ "quat": [
62
+ 1.0,
63
+ 0.0,
64
+ 0.0,
65
+ 0.0
66
+ ]
67
+ },
68
+ "object_xy_range": 0.08,
69
+ "bowl_xy_range": 0.08,
70
+ "min_object_bowl_dist": 0.06
71
+ }
72
+ }
73
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0003_scene_snapshot.json ADDED
@@ -0,0 +1,79 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "qpos": [
3
+ 0.0,
4
+ 1.4,
5
+ -1.1,
6
+ 0.0,
7
+ 1.0,
8
+ 0.0,
9
+ 0.0,
10
+ 0.0,
11
+ -0.0737677378422147,
12
+ 0.9070393376141184,
13
+ 0.7145,
14
+ 1.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.039440049273129565,
19
+ 1.088228462919185,
20
+ 0.6988,
21
+ 1.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0
27
+ ],
28
+ "qvel": [
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0
51
+ ],
52
+ "act": [],
53
+ "ctrl": [
54
+ 0.0,
55
+ 1.4,
56
+ -1.1,
57
+ 0.0,
58
+ 1.0,
59
+ 0.0,
60
+ 0.0
61
+ ],
62
+ "mocap_pos": [
63
+ [
64
+ -0.007297383305951269,
65
+ 0.9985828538890632,
66
+ 0.8788984072514017
67
+ ]
68
+ ],
69
+ "mocap_quat": [
70
+ [
71
+ -4.4723078767568703e-07,
72
+ -0.5698939878004969,
73
+ -4.404831832112132e-07,
74
+ 0.8217182258344113
75
+ ]
76
+ ],
77
+ "userdata": [],
78
+ "time": 0.0
79
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0003_variables.json ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seed": 1004,
3
+ "object_initial_qpos": [
4
+ 0.0,
5
+ 1.4,
6
+ -1.1,
7
+ 0.0,
8
+ 1.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ -0.0737677378422147,
13
+ 0.9070393376141184,
14
+ 0.7145,
15
+ 1.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.039440049273129565,
20
+ 1.088228462919185,
21
+ 0.6988,
22
+ 1.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0
28
+ ],
29
+ "material_choice": "fixed_default_material",
30
+ "texture_choice": "fixed_default_texture",
31
+ "randomizer_internal_choices": {
32
+ "position_randomization_only": true,
33
+ "texture_randomized": false,
34
+ "light_randomized": false,
35
+ "object_name": "block_green",
36
+ "bowl_name": "bowl_pink",
37
+ "object_pose": {
38
+ "pos": [
39
+ -0.0737677378422147,
40
+ 0.9070393376141184,
41
+ 0.7145
42
+ ],
43
+ "quat": [
44
+ 1.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0
48
+ ]
49
+ },
50
+ "bowl_pose": {
51
+ "pos": [
52
+ 0.039440049273129565,
53
+ 1.088228462919185,
54
+ 0.6988
55
+ ],
56
+ "quat": [
57
+ 1.0,
58
+ 0.0,
59
+ 0.0,
60
+ 0.0
61
+ ]
62
+ },
63
+ "object_xy_range": 0.08,
64
+ "bowl_xy_range": 0.08,
65
+ "min_object_bowl_dist": 0.06
66
+ }
67
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0004_episode_metadata.json ADDED
@@ -0,0 +1,73 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "success": true,
3
+ "step_count": 404,
4
+ "sample_idx": 4,
5
+ "episode_seed": 1005,
6
+ "episode_variables": {
7
+ "seed": 1005,
8
+ "object_initial_qpos": [
9
+ 0.0,
10
+ 1.4,
11
+ -1.1,
12
+ 0.0,
13
+ 1.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.025474308945222582,
18
+ 0.7813282109572315,
19
+ 0.7145,
20
+ 1.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ -0.00472334429320076,
25
+ 1.084877629677268,
26
+ 0.6988,
27
+ 1.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0
33
+ ],
34
+ "material_choice": "fixed_default_material",
35
+ "texture_choice": "fixed_default_texture",
36
+ "randomizer_internal_choices": {
37
+ "position_randomization_only": true,
38
+ "texture_randomized": false,
39
+ "light_randomized": false,
40
+ "object_name": "block_green",
41
+ "bowl_name": "bowl_pink",
42
+ "object_pose": {
43
+ "pos": [
44
+ 0.025474308945222582,
45
+ 0.7813282109572315,
46
+ 0.7145
47
+ ],
48
+ "quat": [
49
+ 1.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0
53
+ ]
54
+ },
55
+ "bowl_pose": {
56
+ "pos": [
57
+ -0.00472334429320076,
58
+ 1.084877629677268,
59
+ 0.6988
60
+ ],
61
+ "quat": [
62
+ 1.0,
63
+ 0.0,
64
+ 0.0,
65
+ 0.0
66
+ ]
67
+ },
68
+ "object_xy_range": 0.08,
69
+ "bowl_xy_range": 0.08,
70
+ "min_object_bowl_dist": 0.06
71
+ }
72
+ }
73
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0004_scene_snapshot.json ADDED
@@ -0,0 +1,79 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "qpos": [
3
+ 0.0,
4
+ 1.4,
5
+ -1.1,
6
+ 0.0,
7
+ 1.0,
8
+ 0.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.025474308945222582,
12
+ 0.7813282109572315,
13
+ 0.7145,
14
+ 1.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ -0.00472334429320076,
19
+ 1.084877629677268,
20
+ 0.6988,
21
+ 1.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0
27
+ ],
28
+ "qvel": [
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0
51
+ ],
52
+ "act": [],
53
+ "ctrl": [
54
+ 0.0,
55
+ 1.4,
56
+ -1.1,
57
+ 0.0,
58
+ 1.0,
59
+ 0.0,
60
+ 0.0
61
+ ],
62
+ "mocap_pos": [
63
+ [
64
+ -0.007297383305951269,
65
+ 0.9985828538890632,
66
+ 0.8788984072514017
67
+ ]
68
+ ],
69
+ "mocap_quat": [
70
+ [
71
+ -4.4723078767568703e-07,
72
+ -0.5698939878004969,
73
+ -4.404831832112132e-07,
74
+ 0.8217182258344113
75
+ ]
76
+ ],
77
+ "userdata": [],
78
+ "time": 0.0
79
+ }
pose_randomized_fixed_visual/source_metadata/sample_previews/sample_0004_variables.json ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seed": 1005,
3
+ "object_initial_qpos": [
4
+ 0.0,
5
+ 1.4,
6
+ -1.1,
7
+ 0.0,
8
+ 1.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.025474308945222582,
13
+ 0.7813282109572315,
14
+ 0.7145,
15
+ 1.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ -0.00472334429320076,
20
+ 1.084877629677268,
21
+ 0.6988,
22
+ 1.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0
28
+ ],
29
+ "material_choice": "fixed_default_material",
30
+ "texture_choice": "fixed_default_texture",
31
+ "randomizer_internal_choices": {
32
+ "position_randomization_only": true,
33
+ "texture_randomized": false,
34
+ "light_randomized": false,
35
+ "object_name": "block_green",
36
+ "bowl_name": "bowl_pink",
37
+ "object_pose": {
38
+ "pos": [
39
+ 0.025474308945222582,
40
+ 0.7813282109572315,
41
+ 0.7145
42
+ ],
43
+ "quat": [
44
+ 1.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0
48
+ ]
49
+ },
50
+ "bowl_pose": {
51
+ "pos": [
52
+ -0.00472334429320076,
53
+ 1.084877629677268,
54
+ 0.6988
55
+ ],
56
+ "quat": [
57
+ 1.0,
58
+ 0.0,
59
+ 0.0,
60
+ 0.0
61
+ ]
62
+ },
63
+ "object_xy_range": 0.08,
64
+ "bowl_xy_range": 0.08,
65
+ "min_object_bowl_dist": 0.06
66
+ }
67
+ }
pose_randomized_fixed_visual/videos/observation.images.global_cam/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:80ee2fe50c51c4a9965b8a3604513c19b890217df971127c3abc4d0ab6676e82
3
+ size 208596404
pose_randomized_fixed_visual/videos/observation.images.global_cam/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e661357f21e01de0dedf219361c76742b1ac3faa729272660a06bb472c3c3cc4
3
+ size 208593739
pose_randomized_fixed_visual/videos/observation.images.global_cam/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce1b9f0047d473ec682a3da39592959d9dec64785aa3bd4255860279c8508812
3
+ size 209546530
pose_randomized_fixed_visual/videos/observation.images.global_cam/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:87436fbf4e50a17e7093d28c921095cb044b618e8d9f340c7774311ba4f37fd8
3
+ size 129110921
pose_randomized_fixed_visual/videos/observation.images.wrist_cam/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d1e9fac020b6c17c14380efe72d00d94e48c4e4b44b946d591709447c5c4eaee
3
+ size 209479841
pose_randomized_fixed_visual/videos/observation.images.wrist_cam/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f46939f2a4eaef0bfb1c1dee712ce004c3048db54a33a3edfabfa81c64bcba03
3
+ size 209557639
pose_randomized_fixed_visual/videos/observation.images.wrist_cam/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e83a2ed30d0cdc89070db41a4f6f44472e4dde86561a019d45895eb2a916b34d
3
+ size 71733020