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Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +350 -0
- meta/stats.json +2428 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.front/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.left/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.right/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:ff77c29288f56c916a7c56fc1aee488967abaf7a9b1b77a60b8e68b2ef760a58
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size 21116554
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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 sha256:26a6f500efc4309b0c5413a2c558b1f76291747a048a9457f4caaf1a546d0b55
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size 869352
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meta/info.json
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| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"fps": 30,
|
| 4 |
+
"features": {
|
| 5 |
+
"action": {
|
| 6 |
+
"dtype": "float32",
|
| 7 |
+
"names": [
|
| 8 |
+
"rh_pos_x",
|
| 9 |
+
"rh_pos_y",
|
| 10 |
+
"rh_pos_z",
|
| 11 |
+
"rh_quat_w",
|
| 12 |
+
"rh_quat_x",
|
| 13 |
+
"rh_quat_y",
|
| 14 |
+
"rh_quat_z",
|
| 15 |
+
"rh_gripper",
|
| 16 |
+
"lh_pos_x",
|
| 17 |
+
"lh_pos_y",
|
| 18 |
+
"lh_pos_z",
|
| 19 |
+
"lh_quat_w",
|
| 20 |
+
"lh_quat_x",
|
| 21 |
+
"lh_quat_y",
|
| 22 |
+
"lh_quat_z",
|
| 23 |
+
"lh_gripper",
|
| 24 |
+
"head_quat_w",
|
| 25 |
+
"head_quat_x",
|
| 26 |
+
"head_quat_y",
|
| 27 |
+
"head_quat_z"
|
| 28 |
+
],
|
| 29 |
+
"shape": [
|
| 30 |
+
20
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"observation.state": {
|
| 34 |
+
"dtype": "float32",
|
| 35 |
+
"names": [
|
| 36 |
+
"torso_pitch",
|
| 37 |
+
"torso_roll",
|
| 38 |
+
"torso_yaw",
|
| 39 |
+
"l_shoulder_pitch",
|
| 40 |
+
"l_shoulder_roll",
|
| 41 |
+
"l_shoulder_yaw",
|
| 42 |
+
"l_elbow",
|
| 43 |
+
"l_wrist_prosup",
|
| 44 |
+
"l_wrist_pitch",
|
| 45 |
+
"l_wrist_yaw",
|
| 46 |
+
"l_hand_finger",
|
| 47 |
+
"l_thumb_oppose",
|
| 48 |
+
"l_thumb_proximal",
|
| 49 |
+
"l_thumb_distal",
|
| 50 |
+
"l_index_proximal",
|
| 51 |
+
"l_index_distal",
|
| 52 |
+
"l_middle_proximal",
|
| 53 |
+
"l_middle_distal",
|
| 54 |
+
"l_pinky",
|
| 55 |
+
"r_shoulder_pitch",
|
| 56 |
+
"r_shoulder_roll",
|
| 57 |
+
"r_shoulder_yaw",
|
| 58 |
+
"r_elbow",
|
| 59 |
+
"r_wrist_prosup",
|
| 60 |
+
"r_wrist_pitch",
|
| 61 |
+
"r_wrist_yaw",
|
| 62 |
+
"r_hand_finger",
|
| 63 |
+
"r_thumb_oppose",
|
| 64 |
+
"r_thumb_proximal",
|
| 65 |
+
"r_thumb_distal",
|
| 66 |
+
"r_index_proximal",
|
| 67 |
+
"r_index_distal",
|
| 68 |
+
"r_middle_proximal",
|
| 69 |
+
"r_middle_distal",
|
| 70 |
+
"r_pinky",
|
| 71 |
+
"neck_pitch",
|
| 72 |
+
"neck_roll",
|
| 73 |
+
"neck_yaw",
|
| 74 |
+
"eyes_tilt",
|
| 75 |
+
"eyes_version",
|
| 76 |
+
"eyes_vergence",
|
| 77 |
+
"torso_pitch_vel",
|
| 78 |
+
"torso_roll_vel",
|
| 79 |
+
"torso_yaw_vel",
|
| 80 |
+
"l_shoulder_pitch_vel",
|
| 81 |
+
"l_shoulder_roll_vel",
|
| 82 |
+
"l_shoulder_yaw_vel",
|
| 83 |
+
"l_elbow_vel",
|
| 84 |
+
"l_wrist_prosup_vel",
|
| 85 |
+
"l_wrist_pitch_vel",
|
| 86 |
+
"l_wrist_yaw_vel",
|
| 87 |
+
"l_hand_finger_vel",
|
| 88 |
+
"l_thumb_oppose_vel",
|
| 89 |
+
"l_thumb_proximal_vel",
|
| 90 |
+
"l_thumb_distal_vel",
|
| 91 |
+
"l_index_proximal_vel",
|
| 92 |
+
"l_index_distal_vel",
|
| 93 |
+
"l_middle_proximal_vel",
|
| 94 |
+
"l_middle_distal_vel",
|
| 95 |
+
"l_pinky_vel",
|
| 96 |
+
"r_shoulder_pitch_vel",
|
| 97 |
+
"r_shoulder_roll_vel",
|
| 98 |
+
"r_shoulder_yaw_vel",
|
| 99 |
+
"r_elbow_vel",
|
| 100 |
+
"r_wrist_prosup_vel",
|
| 101 |
+
"r_wrist_pitch_vel",
|
| 102 |
+
"r_wrist_yaw_vel",
|
| 103 |
+
"r_hand_finger_vel",
|
| 104 |
+
"r_thumb_oppose_vel",
|
| 105 |
+
"r_thumb_proximal_vel",
|
| 106 |
+
"r_thumb_distal_vel",
|
| 107 |
+
"r_index_proximal_vel",
|
| 108 |
+
"r_index_distal_vel",
|
| 109 |
+
"r_middle_proximal_vel",
|
| 110 |
+
"r_middle_distal_vel",
|
| 111 |
+
"r_pinky_vel",
|
| 112 |
+
"neck_pitch_vel",
|
| 113 |
+
"neck_roll_vel",
|
| 114 |
+
"neck_yaw_vel",
|
| 115 |
+
"eyes_tilt_vel",
|
| 116 |
+
"eyes_version_vel",
|
| 117 |
+
"eyes_vergence_vel",
|
| 118 |
+
"rh_ee_pos_x",
|
| 119 |
+
"rh_ee_pos_y",
|
| 120 |
+
"rh_ee_pos_z",
|
| 121 |
+
"rh_ee_quat_w",
|
| 122 |
+
"rh_ee_quat_x",
|
| 123 |
+
"rh_ee_quat_y",
|
| 124 |
+
"rh_ee_quat_z",
|
| 125 |
+
"lh_ee_pos_x",
|
| 126 |
+
"lh_ee_pos_y",
|
| 127 |
+
"lh_ee_pos_z",
|
| 128 |
+
"lh_ee_quat_w",
|
| 129 |
+
"lh_ee_quat_x",
|
| 130 |
+
"lh_ee_quat_y",
|
| 131 |
+
"lh_ee_quat_z",
|
| 132 |
+
"head_ee_quat_w",
|
| 133 |
+
"head_ee_quat_x",
|
| 134 |
+
"head_ee_quat_y",
|
| 135 |
+
"head_ee_quat_z",
|
| 136 |
+
"rh_target_pos_x",
|
| 137 |
+
"rh_target_pos_y",
|
| 138 |
+
"rh_target_pos_z",
|
| 139 |
+
"rh_target_quat_w",
|
| 140 |
+
"rh_target_quat_x",
|
| 141 |
+
"rh_target_quat_y",
|
| 142 |
+
"rh_target_quat_z",
|
| 143 |
+
"lh_target_pos_x",
|
| 144 |
+
"lh_target_pos_y",
|
| 145 |
+
"lh_target_pos_z",
|
| 146 |
+
"lh_target_quat_w",
|
| 147 |
+
"lh_target_quat_x",
|
| 148 |
+
"lh_target_quat_y",
|
| 149 |
+
"lh_target_quat_z",
|
| 150 |
+
"head_target_quat_w",
|
| 151 |
+
"head_target_quat_x",
|
| 152 |
+
"head_target_quat_y",
|
| 153 |
+
"head_target_quat_z",
|
| 154 |
+
"rh_gripper",
|
| 155 |
+
"lh_gripper",
|
| 156 |
+
"rh_touch_thumb",
|
| 157 |
+
"rh_touch_index",
|
| 158 |
+
"rh_touch_middle",
|
| 159 |
+
"lh_touch_thumb",
|
| 160 |
+
"lh_touch_index",
|
| 161 |
+
"lh_touch_middle",
|
| 162 |
+
"obj0_pos_x",
|
| 163 |
+
"obj0_pos_y",
|
| 164 |
+
"obj0_pos_z",
|
| 165 |
+
"obj0_quat_w",
|
| 166 |
+
"obj0_quat_x",
|
| 167 |
+
"obj0_quat_y",
|
| 168 |
+
"obj0_quat_z",
|
| 169 |
+
"torso_pitch_torque",
|
| 170 |
+
"torso_roll_torque",
|
| 171 |
+
"torso_yaw_torque",
|
| 172 |
+
"l_shoulder_pitch_torque",
|
| 173 |
+
"l_shoulder_roll_torque",
|
| 174 |
+
"l_shoulder_yaw_torque",
|
| 175 |
+
"l_elbow_torque",
|
| 176 |
+
"l_wrist_prosup_torque",
|
| 177 |
+
"l_wrist_pitch_torque",
|
| 178 |
+
"l_wrist_yaw_torque",
|
| 179 |
+
"l_hand_finger_torque",
|
| 180 |
+
"l_thumb_oppose_torque",
|
| 181 |
+
"l_thumb_proximal_torque",
|
| 182 |
+
"l_thumb_distal_torque",
|
| 183 |
+
"l_index_proximal_torque",
|
| 184 |
+
"l_index_distal_torque",
|
| 185 |
+
"l_middle_proximal_torque",
|
| 186 |
+
"l_middle_distal_torque",
|
| 187 |
+
"l_pinky_torque",
|
| 188 |
+
"r_shoulder_pitch_torque",
|
| 189 |
+
"r_shoulder_roll_torque",
|
| 190 |
+
"r_shoulder_yaw_torque",
|
| 191 |
+
"r_elbow_torque",
|
| 192 |
+
"r_wrist_prosup_torque",
|
| 193 |
+
"r_wrist_pitch_torque",
|
| 194 |
+
"r_wrist_yaw_torque",
|
| 195 |
+
"r_hand_finger_torque",
|
| 196 |
+
"r_thumb_oppose_torque",
|
| 197 |
+
"r_thumb_proximal_torque",
|
| 198 |
+
"r_thumb_distal_torque",
|
| 199 |
+
"r_index_proximal_torque",
|
| 200 |
+
"r_index_distal_torque",
|
| 201 |
+
"r_middle_proximal_torque",
|
| 202 |
+
"r_middle_distal_torque",
|
| 203 |
+
"r_pinky_torque",
|
| 204 |
+
"neck_pitch_torque",
|
| 205 |
+
"neck_roll_torque",
|
| 206 |
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"neck_yaw_torque",
|
| 207 |
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"eyes_tilt_torque",
|
| 208 |
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"eyes_version_torque",
|
| 209 |
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"eyes_vergence_torque"
|
| 210 |
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],
|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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| 216 |
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| 217 |
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| 218 |
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| 221 |
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| 222 |
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| 223 |
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| 224 |
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| 225 |
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| 226 |
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| 227 |
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|
| 228 |
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| 229 |
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| 243 |
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| 246 |
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| 254 |
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| 255 |
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| 282 |
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| 283 |
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|
| 284 |
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| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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| 291 |
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|
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|
| 293 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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| 302 |
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| 303 |
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|
| 304 |
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|
| 307 |
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|
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| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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| 320 |
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|
| 321 |
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|
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|
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|
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|
| 325 |
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|
| 327 |
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|
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|
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|
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|
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|
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| 334 |
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|
| 335 |
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|
| 336 |
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|
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|
| 338 |
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|
| 339 |
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|
| 340 |
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|
| 341 |
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|
| 342 |
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|
| 343 |
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|
| 344 |
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|
| 345 |
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|
| 346 |
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"robot_type": "icub_mujoco",
|
| 347 |
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|
| 348 |
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"train": "0:50"
|
| 349 |
+
}
|
| 350 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,2428 @@
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