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Add five RoboDojo tasks with 50 source episodes each (part 6)

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  1. fold_clothes/episode_000937/left_contact/data.parquet +3 -0
  2. fold_clothes/episode_000937/left_contact/metadata.json +1 -0
  3. fold_clothes/episode_000937/left_contact/trajectory.json +1 -0
  4. fold_clothes/episode_000937/right_contact/cam_high.mp4 +3 -0
  5. fold_clothes/episode_000937/right_contact/cam_left_wrist.mp4 +3 -0
  6. fold_clothes/episode_000937/right_contact/cam_right_wrist.mp4 +3 -0
  7. fold_clothes/episode_000937/right_contact/data.parquet +3 -0
  8. fold_clothes/episode_000937/right_contact/metadata.json +1 -0
  9. fold_clothes/episode_000937/right_contact/trajectory.json +1 -0
  10. fold_clothes/episode_000938/left_contact/cam_high.mp4 +3 -0
  11. fold_clothes/episode_000938/left_contact/cam_left_wrist.mp4 +3 -0
  12. fold_clothes/episode_000938/left_contact/cam_right_wrist.mp4 +3 -0
  13. fold_clothes/episode_000938/left_contact/data.parquet +3 -0
  14. fold_clothes/episode_000938/left_contact/metadata.json +1 -0
  15. fold_clothes/episode_000938/left_contact/trajectory.json +1 -0
  16. fold_clothes/episode_000938/right_contact/cam_high.mp4 +3 -0
  17. fold_clothes/episode_000938/right_contact/cam_left_wrist.mp4 +3 -0
  18. fold_clothes/episode_000938/right_contact/cam_right_wrist.mp4 +3 -0
  19. fold_clothes/episode_000938/right_contact/data.parquet +3 -0
  20. fold_clothes/episode_000938/right_contact/metadata.json +1 -0
  21. fold_clothes/episode_000938/right_contact/trajectory.json +1 -0
  22. fold_clothes/episode_000939/left_contact/cam_high.mp4 +3 -0
  23. fold_clothes/episode_000939/left_contact/cam_left_wrist.mp4 +3 -0
  24. fold_clothes/episode_000939/left_contact/cam_right_wrist.mp4 +3 -0
  25. fold_clothes/episode_000939/left_contact/data.parquet +3 -0
  26. fold_clothes/episode_000939/left_contact/metadata.json +1 -0
  27. fold_clothes/episode_000939/left_contact/trajectory.json +1 -0
  28. fold_clothes/episode_000939/right_contact/cam_high.mp4 +3 -0
  29. fold_clothes/episode_000939/right_contact/cam_left_wrist.mp4 +3 -0
  30. fold_clothes/episode_000939/right_contact/cam_right_wrist.mp4 +3 -0
  31. fold_clothes/episode_000939/right_contact/data.parquet +3 -0
  32. fold_clothes/episode_000939/right_contact/metadata.json +1 -0
  33. fold_clothes/episode_000939/right_contact/trajectory.json +1 -0
  34. fold_clothes/episode_000940/left_contact/cam_high.mp4 +3 -0
  35. fold_clothes/episode_000940/left_contact/cam_left_wrist.mp4 +3 -0
  36. fold_clothes/episode_000940/left_contact/cam_right_wrist.mp4 +3 -0
  37. fold_clothes/episode_000940/left_contact/data.parquet +3 -0
  38. fold_clothes/episode_000940/left_contact/metadata.json +1 -0
  39. fold_clothes/episode_000940/left_contact/trajectory.json +1 -0
  40. fold_clothes/episode_000940/right_contact/cam_high.mp4 +3 -0
  41. fold_clothes/episode_000940/right_contact/cam_left_wrist.mp4 +3 -0
  42. fold_clothes/episode_000940/right_contact/cam_right_wrist.mp4 +3 -0
  43. fold_clothes/episode_000940/right_contact/data.parquet +3 -0
  44. fold_clothes/episode_000940/right_contact/metadata.json +1 -0
  45. fold_clothes/episode_000940/right_contact/trajectory.json +1 -0
  46. fold_clothes/episode_000941/left_contact/cam_high.mp4 +3 -0
  47. fold_clothes/episode_000941/left_contact/cam_left_wrist.mp4 +3 -0
  48. fold_clothes/episode_000941/left_contact/cam_right_wrist.mp4 +3 -0
  49. fold_clothes/episode_000941/left_contact/data.parquet +3 -0
  50. fold_clothes/episode_000941/left_contact/metadata.json +1 -0
fold_clothes/episode_000937/left_contact/data.parquet ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:0d0c32c0b515c586826dd1dee346c2852c756e20acb8db7793349b8204d27c22
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+ size 8412
fold_clothes/episode_000937/left_contact/metadata.json ADDED
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+ {"format":"robodojo_independent_clips_v1","episode_index":937,"task_name":"fold_clothes","frames":36,"clip_id":"left_contact","fps":25,"source":{"repo":"RoboDojo-Benchmark/RoboDojo","revision":"35efbc7dedfdbeeb6e95fb749bd885d73d483e41","format":"lerobot_v3.0_ee","infoFile":"data/RoboDojo_ee_lerobot_v30_video/meta/info.json","infoSha256":"dd66cf6da1dadcc73963745e3a921182d6461e8ea3c2d03224ddb5f7009b8611","selectionSha256":"e9fe8c7628d1479d8926d5f17eb91302e8732f0cff15354ae831d441739cdfc6","dataFile":"data/RoboDojo_ee_lerobot_v30_video/data/chunk-000/file-000.parquet","dataSha256":"c605e0cfa55219ae468dc5a79fd0e2d05fe4f79b9f8918573c6c117babe59158","episode_index":937,"task_index":9,"dataset_from_index":601927,"dataset_to_index":602227,"start":9,"end_exclusive":45,"clip_id":"left_contact","rangeConvention":"zero_based_half_open","stateFeature":"observation.state","stateNames":["l_x","l_y","l_z","l_w","l_wx","l_wy","l_wz","l_g","r_x","r_y","r_z","r_w","r_wx","r_wy","r_wz","r_g"],"actionFeature":"action","actionNames":["l_x","l_y","l_z","l_w","l_wx","l_wy","l_wz","l_g","r_x","r_y","r_z","r_w","r_wx","r_wy","r_wz","r_g"],"quaternionOrder":"wxyz"},"annotation":{"event_frame":34,"event":"visual_left_hand_cloth_contact","pre_frames":25,"post_frames":10,"contact_included":true,"method":"visual_frame_inspection","cameras":["cam_high","cam_left_wrist"],"evidence_files":["evidence/937_cam_high_foldb_overview.jpg","evidence/937_cam_left_wrist_foldb_contact.jpg"],"uncertainty_frames":2,"notes":"左手首次抓取红色雪花纹衣服对应袖口。已逐条检查全景概览与腕部接近到接触后的连续逐帧图像;第34帧袖口侧缘在指尖附近出现清晰局部凹陷,后续帧褶皱加深,作为视觉接触估计。此前约1至2帧可见边缘投影重合,二维图像不能确定精确物理触碰,且无力/接触传感器真值。夹爪状态在第37帧低于0.74仅用于定位检查邻域,未直接用夹爪闭合替代接触判定。窗口保留完整双臂与全部相机:接触前25帧、接触帧及后10帧,共36帧。","label_type":"visual_estimate","physical_contact_verified":false,"annotator":"Codex visual frame inspection"},"quality":{"episode_index":937,"task_name":"fold_clothes","frame_count":300,"fps":25,"duration_s":12.0,"timestamp_span_s":11.960000038146973,"features":["observation.state","action"],"feature_dimensions":16,"quaternion_norm_tolerance":0.01,"quaternion_norms":{"observation.state":{"left":{"min":0.9999998878170868,"max":1.0000000343121778,"max_abs_error":1.1218291318115803e-07},"right":{"min":0.9999998721309691,"max":1.000000047337637,"max_abs_error":1.278690309192143e-07}},"action":{"left":{"min":0.9999999642103216,"max":1.0000000405667722,"max_abs_error":4.056677216368598e-08},"right":{"min":0.9999999627633719,"max":1.0000000354560301,"max_abs_error":3.723662811427886e-08}}},"values_modified":false,"warnings":[],"scope":"complete_source_episode"},"accepted":null,"videos":[{"name":"俯视相机","camera":"observation.images.cam_high","startTime":0,"endTime":1.44,"frames":36,"fps":25.0,"width":640,"height":480,"sha256":"321b0fca3488b07153139552e586d003f944401fb1d10215da464125efcfe31d","source":{"path":"data/RoboDojo_ee_lerobot_v30_video/videos/observation.images.cam_high/chunk-000/file-047.mp4","size":207105072,"sha256":"faa21a2a8e747d86dd95f70da6683dce49a76bc593ae0bda937452c342eb8925","startTime":519.8399999999999,"endTime":531.8399999999999,"clipStartTime":520.1999999999999,"clipEndTime":521.6399999999999},"path":"fold_clothes/episode_000937/left_contact/cam_high.mp4"},{"name":"左腕相机","camera":"observation.images.cam_left_wrist","startTime":0,"endTime":1.44,"frames":36,"fps":25.0,"width":640,"height":480,"sha256":"ae53d186d4ba0f22ecd73b550d206ceeb13015ded162f37644fc1dc174dae788","source":{"path":"data/RoboDojo_ee_lerobot_v30_video/videos/observation.images.cam_left_wrist/chunk-000/file-030.mp4","size":206154762,"sha256":"ec9ce522aa46adbc8e125aacff940395358f9bf4b6976f44efde34515a889f6a","startTime":23.96,"endTime":35.96,"clipStartTime":24.32,"clipEndTime":25.76},"path":"fold_clothes/episode_000937/left_contact/cam_left_wrist.mp4"},{"name":"右腕相机","camera":"observation.images.cam_right_wrist","startTime":0,"endTime":1.44,"frames":36,"fps":25.0,"width":640,"height":480,"sha256":"465502f5ae47f8dff2e982d5297be1d22cee3375e14d5b6f9d6640dc1df17b4b","source":{"path":"data/RoboDojo_ee_lerobot_v30_video/videos/observation.images.cam_right_wrist/chunk-000/file-030.mp4","size":208777693,"sha256":"f7c73ff66ff1573ab3429fbc52df698d53006690e50a6e8f221b070c1a5e9a53","startTime":289.59999999999997,"endTime":301.59999999999997,"clipStartTime":289.96,"clipEndTime":291.4},"path":"fold_clothes/episode_000937/left_contact/cam_right_wrist.mp4"}],"originalColumns":["observation.state","action","timestamp","frame_index","episode_index","index","task_index"],"parquetSha256":"0d0c32c0b515c586826dd1dee346c2852c756e20acb8db7793349b8204d27c22","valuesPreservedExactly":true,"clipTimeDefinition":"clip_frame_index / fps; source timestamp remains unchanged"}
fold_clothes/episode_000937/left_contact/trajectory.json ADDED
@@ -0,0 +1 @@
 
 
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