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data/chunk-000/episode_000000.parquet

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data/chunk-000/episode_000001.parquet

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meta/episodes.jsonl

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meta/episodes_stats.jsonl

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meta/info.json

@@ -0,0 +1,448 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 2,
+    "total_frames": 1484,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:2"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                640,
+                3
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+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
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+            "names": [
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+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
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+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
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+        },
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+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action.wbc": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "observation.root_orientation": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "base_qw",
+                "base_qx",
+                "base_qy",
+                "base_qz"
+            ]
+        },
+        "observation.projected_gravity": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "gravity_x",
+                "gravity_y",
+                "gravity_z"
+            ]
+        },
+        "observation.cpp_rotation_offset": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "rot_offset_qw",
+                "rot_offset_qx",
+                "rot_offset_qy",
+                "rot_offset_qz"
+            ]
+        },
+        "observation.init_base_quat": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "init_base_qw",
+                "init_base_qx",
+                "init_base_qy",
+                "init_base_qz"
+            ]
+        },
+        "teleop.delta_heading": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "delta_heading"
+            ]
+        },
+        "action.motion_token": {
+            "dtype": "float64",
+            "shape": [
+                64
+            ],
+            "names": "motion_token"
+        },
+        "teleop.smpl_joints": {
+            "dtype": "float32",
+            "shape": [
+                72
+            ],
+            "names": "smpl_joints"
+        },
+        "teleop.smpl_pose": {
+            "dtype": "float32",
+            "shape": [
+                63
+            ],
+            "names": "smpl_pose"
+        },
+        "teleop.body_quat_w": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": "body_quat_w"
+        },
+        "teleop.target_body_orientation": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "target_body_r00",
+                "target_body_r10",
+                "target_body_r01",
+                "target_body_r11",
+                "target_body_r02",
+                "target_body_r12"
+            ]
+        },
+        "teleop.left_hand_joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": "left_hand_joints"
+        },
+        "teleop.right_hand_joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": "right_hand_joints"
+        },
+        "teleop.smpl_frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "smpl_frame_index"
+            ]
+        },
+        "teleop.left_wrist_joints": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "left_wrist_roll",
+                "left_wrist_pitch",
+                "left_wrist_yaw"
+            ]
+        },
+        "teleop.right_wrist_joints": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "right_wrist_roll",
+                "right_wrist_pitch",
+                "right_wrist_yaw"
+            ]
+        },
+        "teleop.stream_mode": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "stream_mode"
+            ]
+        },
+        "teleop.planner_mode": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "locomotion_mode"
+            ]
+        },
+        "teleop.planner_movement": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "movement_x",
+                "movement_y",
+                "movement_z"
+            ]
+        },
+        "teleop.planner_facing": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "facing_x",
+                "facing_y",
+                "facing_z"
+            ]
+        },
+        "teleop.planner_speed": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "speed"
+            ]
+        },
+        "teleop.planner_height": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "height"
+            ]
+        },
+        "teleop.vr_3pt_position": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "lwrist_x",
+                "lwrist_y",
+                "lwrist_z",
+                "rwrist_x",
+                "rwrist_y",
+                "rwrist_z",
+                "neck_x",
+                "neck_y",
+                "neck_z"
+            ]
+        },
+        "teleop.vr_3pt_orientation": {
+            "dtype": "float32",
+            "shape": [
+                18
+            ],
+            "names": [
+                "lwrist_r00",
+                "lwrist_r10",
+                "lwrist_r01",
+                "lwrist_r11",
+                "lwrist_r02",
+                "lwrist_r12",
+                "rwrist_r00",
+                "rwrist_r10",
+                "rwrist_r01",
+                "rwrist_r11",
+                "rwrist_r02",
+                "rwrist_r12",
+                "neck_r00",
+                "neck_r10",
+                "neck_r01",
+                "neck_r11",
+                "neck_r02",
+                "neck_r12"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "script_config": {
+        "control_frequency": 50,
+        "encoder_file": "policy/release/model_encoder.onnx",
+        "is_using_encoder": true,
+        "model_path": "policy/release/model_decoder.onnx",
+        "obs_config_path": "policy/release/observation_config.yaml",
+        "planner_fp16": false,
+        "planner_frequency": 10,
+        "planner_path": "planner/target_vel/V2/planner_sonic.onnx",
+        "policy_fp16": false,
+        "reference_motion_path": "reference/example/",
+        "record_wrist_cameras": false
+    },
+    "discarded_episode_indices": []
+}

meta/modality.json

@@ -0,0 +1,182 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "root_orientation": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.root_orientation",
+            "rotation_type": "quaternion"
+        },
+        "projected_gravity": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.projected_gravity"
+        },
+        "cpp_rotation_offset": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.cpp_rotation_offset",
+            "rotation_type": "quaternion"
+        },
+        "init_base_quat": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.init_base_quat",
+            "rotation_type": "quaternion"
+        }
+    },
+    "action": {
+        "delta_heading": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.delta_heading"
+        },
+        "motion_token": {
+            "start": 0,
+            "end": 64,
+            "original_key": "action.motion_token"
+        },
+        "smpl_joints": {
+            "start": 0,
+            "end": 72,
+            "original_key": "teleop.smpl_joints"
+        },
+        "smpl_pose": {
+            "start": 0,
+            "end": 63,
+            "original_key": "teleop.smpl_pose"
+        },
+        "body_quat_w": {
+            "start": 0,
+            "end": 4,
+            "original_key": "teleop.body_quat_w",
+            "rotation_type": "quaternion"
+        },
+        "target_body_orientation": {
+            "start": 0,
+            "end": 6,
+            "original_key": "teleop.target_body_orientation",
+            "rotation_type": "rotation_6d"
+        },
+        "left_hand_joints": {
+            "start": 0,
+            "end": 7,
+            "original_key": "teleop.left_hand_joints"
+        },
+        "right_hand_joints": {
+            "start": 0,
+            "end": 7,
+            "original_key": "teleop.right_hand_joints"
+        },
+        "left_wrist_joints": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.left_wrist_joints"
+        },
+        "right_wrist_joints": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.right_wrist_joints"
+        },
+        "stream_mode": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.stream_mode"
+        },
+        "planner_mode": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.planner_mode"
+        },
+        "planner_movement": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.planner_movement"
+        },
+        "planner_facing": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.planner_facing"
+        },
+        "planner_speed": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.planner_speed"
+        },
+        "planner_height": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.planner_height"
+        },
+        "vr_3pt_position": {
+            "start": 0,
+            "end": 9,
+            "original_key": "teleop.vr_3pt_position"
+        },
+        "vr_3pt_orientation": {
+            "start": 0,
+            "end": 18,
+            "original_key": "teleop.vr_3pt_orientation",
+            "rotation_type": "rotation_6d"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "pick up the box"}

videos/chunk-000/observation.images.ego_view/episode_000000.mp4

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videos/chunk-000/observation.images.ego_view/episode_000001.mp4

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