Datasets:
Upload dataset
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +235 -0
- meta/stats.json +1555 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.frontview/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.head_cam/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.head_cam_track_hand/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 sha256:01f878ec6e066721241ab00d7d8f7ae0db96caba149b47734298e451f6c1e011
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size 15447378
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:c271a6fde6f4c302f3569467c950960b527caa7bb975acd42e43449dd501a22b
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size 549583
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meta/info.json
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{
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| 2 |
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"codebase_version": "v3.0",
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| 3 |
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"robot_type": "icub_mujoco",
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| 4 |
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"total_episodes": 50,
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| 5 |
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"total_frames": 28480,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"chunks_size": 1000,
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| 8 |
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"data_files_size_in_mb": 100,
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| 9 |
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"video_files_size_in_mb": 200,
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| 10 |
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"fps": 30,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:50"
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| 13 |
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},
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| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"action": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"names": [
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| 20 |
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"rh_pos_x",
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| 21 |
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"rh_pos_y",
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| 22 |
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"rh_pos_z",
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| 23 |
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"rh_quat_w",
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| 24 |
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"rh_quat_x",
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| 25 |
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"rh_quat_y",
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| 26 |
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"rh_quat_z",
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| 27 |
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"rh_gripper",
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| 28 |
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"gaze_x",
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| 29 |
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"gaze_y",
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| 30 |
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"gaze_z"
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| 31 |
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],
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| 32 |
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"shape": [
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| 33 |
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11
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| 34 |
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]
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| 35 |
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},
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| 36 |
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"observation.state": {
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| 37 |
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"dtype": "float32",
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| 38 |
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"names": [
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| 39 |
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"torso_pitch",
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| 40 |
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"torso_roll",
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| 41 |
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"torso_yaw",
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| 42 |
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"r_shoulder_pitch",
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| 43 |
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"r_shoulder_roll",
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| 44 |
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"r_shoulder_yaw",
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| 45 |
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"r_elbow",
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| 46 |
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"r_wrist_prosup",
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| 47 |
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"r_wrist_pitch",
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| 48 |
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"r_wrist_yaw",
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| 49 |
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"r_hand_finger",
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| 50 |
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"r_thumb_oppose",
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| 51 |
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"r_thumb_proximal",
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| 52 |
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"r_thumb_distal",
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| 53 |
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"r_index_proximal",
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| 54 |
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"r_index_distal",
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| 55 |
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"r_middle_proximal",
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| 56 |
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"r_middle_distal",
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| 57 |
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"r_pinky",
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| 58 |
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"neck_pitch",
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| 59 |
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"neck_roll",
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| 60 |
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"neck_yaw",
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| 61 |
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"torso_pitch_vel",
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| 62 |
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"torso_roll_vel",
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| 63 |
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"torso_yaw_vel",
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| 64 |
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"r_shoulder_pitch_vel",
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| 65 |
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"r_shoulder_roll_vel",
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| 66 |
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"r_shoulder_yaw_vel",
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| 67 |
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"r_elbow_vel",
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| 68 |
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"r_wrist_prosup_vel",
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| 69 |
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"r_wrist_pitch_vel",
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| 70 |
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"r_wrist_yaw_vel",
|
| 71 |
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"r_hand_finger_vel",
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| 72 |
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"r_thumb_oppose_vel",
|
| 73 |
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"r_thumb_proximal_vel",
|
| 74 |
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"r_thumb_distal_vel",
|
| 75 |
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"r_index_proximal_vel",
|
| 76 |
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"r_index_distal_vel",
|
| 77 |
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"r_middle_proximal_vel",
|
| 78 |
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"r_middle_distal_vel",
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| 79 |
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"r_pinky_vel",
|
| 80 |
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"neck_pitch_vel",
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| 81 |
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"neck_roll_vel",
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| 82 |
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"neck_yaw_vel",
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| 83 |
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"rh_ee_pos_x",
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| 84 |
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"rh_ee_pos_y",
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| 85 |
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"rh_ee_pos_z",
|
| 86 |
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"rh_ee_quat_w",
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| 87 |
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"rh_ee_quat_x",
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| 88 |
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"rh_ee_quat_y",
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| 89 |
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"rh_ee_quat_z",
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| 90 |
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"rh_touch_thumb",
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| 91 |
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"rh_touch_index",
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| 92 |
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"rh_touch_middle",
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| 93 |
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"object_pos_x",
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| 94 |
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"object_pos_y",
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| 95 |
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"object_pos_z",
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| 96 |
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"object_quat_w",
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| 97 |
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"object_quat_x",
|
| 98 |
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"object_quat_y",
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| 99 |
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"object_quat_z",
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| 100 |
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"torso_pitch_torque",
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| 101 |
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"torso_roll_torque",
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| 102 |
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"torso_yaw_torque",
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| 103 |
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"r_shoulder_pitch_torque",
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| 104 |
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"r_shoulder_roll_torque",
|
| 105 |
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"r_shoulder_yaw_torque",
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| 106 |
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"r_elbow_torque",
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| 107 |
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"r_wrist_prosup_torque",
|
| 108 |
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"r_wrist_pitch_torque",
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| 109 |
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"r_wrist_yaw_torque",
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| 110 |
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"r_hand_finger_torque",
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| 111 |
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"r_thumb_oppose_torque",
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| 112 |
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"r_thumb_proximal_torque",
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| 113 |
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"r_thumb_distal_torque",
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| 114 |
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"r_index_proximal_torque",
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| 115 |
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"r_index_distal_torque",
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| 116 |
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"r_middle_proximal_torque",
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| 117 |
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"r_middle_distal_torque",
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| 118 |
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"r_pinky_torque",
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| 119 |
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"neck_pitch_torque",
|
| 120 |
+
"neck_roll_torque",
|
| 121 |
+
"neck_yaw_torque",
|
| 122 |
+
"rh_ext_force_x",
|
| 123 |
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"rh_ext_force_y",
|
| 124 |
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"rh_ext_force_z"
|
| 125 |
+
],
|
| 126 |
+
"shape": [
|
| 127 |
+
86
|
| 128 |
+
]
|
| 129 |
+
},
|
| 130 |
+
"observation.images.head_cam": {
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| 131 |
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"dtype": "video",
|
| 132 |
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"shape": [
|
| 133 |
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3,
|
| 134 |
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240,
|
| 135 |
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320
|
| 136 |
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],
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| 137 |
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"names": [
|
| 138 |
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"height",
|
| 139 |
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"width",
|
| 140 |
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"channels"
|
| 141 |
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],
|
| 142 |
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"info": {
|
| 143 |
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"video.height": 240,
|
| 144 |
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"video.width": 320,
|
| 145 |
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"video.codec": "av1",
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| 146 |
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"video.pix_fmt": "yuv420p",
|
| 147 |
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"video.is_depth_map": false,
|
| 148 |
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"video.fps": 30,
|
| 149 |
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"video.channels": 3,
|
| 150 |
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"has_audio": false
|
| 151 |
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}
|
| 152 |
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},
|
| 153 |
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"observation.images.head_cam_track_hand": {
|
| 154 |
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"dtype": "video",
|
| 155 |
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"shape": [
|
| 156 |
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3,
|
| 157 |
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240,
|
| 158 |
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320
|
| 159 |
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],
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| 160 |
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"names": [
|
| 161 |
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"height",
|
| 162 |
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"width",
|
| 163 |
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"channels"
|
| 164 |
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],
|
| 165 |
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"info": {
|
| 166 |
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"video.height": 240,
|
| 167 |
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"video.width": 320,
|
| 168 |
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"video.codec": "av1",
|
| 169 |
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"video.pix_fmt": "yuv420p",
|
| 170 |
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"video.is_depth_map": false,
|
| 171 |
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"video.fps": 30,
|
| 172 |
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"video.channels": 3,
|
| 173 |
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"has_audio": false
|
| 174 |
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}
|
| 175 |
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},
|
| 176 |
+
"observation.images.frontview": {
|
| 177 |
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"dtype": "video",
|
| 178 |
+
"shape": [
|
| 179 |
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3,
|
| 180 |
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240,
|
| 181 |
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320
|
| 182 |
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],
|
| 183 |
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"names": [
|
| 184 |
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"height",
|
| 185 |
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"width",
|
| 186 |
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"channels"
|
| 187 |
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],
|
| 188 |
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"info": {
|
| 189 |
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"video.height": 240,
|
| 190 |
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"video.width": 320,
|
| 191 |
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"video.codec": "av1",
|
| 192 |
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"video.pix_fmt": "yuv420p",
|
| 193 |
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"video.is_depth_map": false,
|
| 194 |
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"video.fps": 30,
|
| 195 |
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"video.channels": 3,
|
| 196 |
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"has_audio": false
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"timestamp": {
|
| 200 |
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"dtype": "float32",
|
| 201 |
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"shape": [
|
| 202 |
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1
|
| 203 |
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],
|
| 204 |
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"names": null
|
| 205 |
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},
|
| 206 |
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"frame_index": {
|
| 207 |
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"dtype": "int64",
|
| 208 |
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"shape": [
|
| 209 |
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1
|
| 210 |
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],
|
| 211 |
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"names": null
|
| 212 |
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},
|
| 213 |
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"episode_index": {
|
| 214 |
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"dtype": "int64",
|
| 215 |
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"shape": [
|
| 216 |
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1
|
| 217 |
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],
|
| 218 |
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"names": null
|
| 219 |
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},
|
| 220 |
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"index": {
|
| 221 |
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"dtype": "int64",
|
| 222 |
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"shape": [
|
| 223 |
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1
|
| 224 |
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],
|
| 225 |
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"names": null
|
| 226 |
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},
|
| 227 |
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"task_index": {
|
| 228 |
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"dtype": "int64",
|
| 229 |
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"shape": [
|
| 230 |
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1
|
| 231 |
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],
|
| 232 |
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"names": null
|
| 233 |
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}
|
| 234 |
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}
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| 235 |
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}
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meta/stats.json
ADDED
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