Datasets:
Add files using upload-large-folder tool
Browse files- data/chunk-000/file-000.parquet +3 -0
- data/chunk-000/file-001.parquet +3 -0
- data/chunk-000/file-002.parquet +3 -0
- data/chunk-000/file-003.parquet +3 -0
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- meta/info.json +400 -0
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- videos/obs.cameras.front.rgb/chunk-000/file-000.mp4 +3 -0
- videos/obs.cameras.right_side.rgb/chunk-000/file-000.mp4 +3 -0
- videos/obs.cameras.wrist.rgb/chunk-000/file-000.mp4 +3 -0
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:aa5b8f3dc8b8bcfa73cfe3cb4cb00167d07cb850b6a78d50db111918b354a659
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| 3 |
+
size 89050953
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meta/action_layout.json
ADDED
|
@@ -0,0 +1,19 @@
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|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"total_dim": 9,
|
| 3 |
+
"segments": [
|
| 4 |
+
{
|
| 5 |
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"name": "manipulator",
|
| 6 |
+
"start": 0,
|
| 7 |
+
"stop": 7,
|
| 8 |
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"width": 7,
|
| 9 |
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"ctrl_type": "OSCPoseAbsoluteQuatController"
|
| 10 |
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},
|
| 11 |
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{
|
| 12 |
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"name": "gripper",
|
| 13 |
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"start": 7,
|
| 14 |
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"stop": 9,
|
| 15 |
+
"width": 2,
|
| 16 |
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"ctrl_type": "JointPositionController"
|
| 17 |
+
}
|
| 18 |
+
]
|
| 19 |
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}
|
meta/env_config.json
ADDED
|
@@ -0,0 +1,123 @@
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|
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|
|
|
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|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"task": "stack",
|
| 3 |
+
"options": {
|
| 4 |
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"sim": {
|
| 5 |
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"control_hz": 20,
|
| 6 |
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"performance_mode": false,
|
| 7 |
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"n_envs": 1
|
| 8 |
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},
|
| 9 |
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"robot": {
|
| 10 |
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"type_of_robot": "single",
|
| 11 |
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"single": {
|
| 12 |
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"manipulator": "franka",
|
| 13 |
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"gripper": "franka_umi_tacticle",
|
| 14 |
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"manipulator_controller": {
|
| 15 |
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"name": "osc_pose_abs_quat",
|
| 16 |
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"config": {
|
| 17 |
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"normalized": false,
|
| 18 |
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"clip": true,
|
| 19 |
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"lin_range": [
|
| 20 |
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1.5,
|
| 21 |
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1.0,
|
| 22 |
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1.0
|
| 23 |
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],
|
| 24 |
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"position_cost": 8.0,
|
| 25 |
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"orientation_cost": 6.0,
|
| 26 |
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"posture_cost": 0.02,
|
| 27 |
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"damping_cost": 0.004,
|
| 28 |
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"max_joint_step": 0.05,
|
| 29 |
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"pos_tol": 0.001,
|
| 30 |
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"mink_substeps": 12,
|
| 31 |
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"rot_tol": 0.001,
|
| 32 |
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"mink_dt": 0.05
|
| 33 |
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}
|
| 34 |
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},
|
| 35 |
+
"gripper_controller": {
|
| 36 |
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"name": "joint_position",
|
| 37 |
+
"config": {
|
| 38 |
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"normalized": true,
|
| 39 |
+
"clip": true
|
| 40 |
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}
|
| 41 |
+
},
|
| 42 |
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"workspace": {
|
| 43 |
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"min": [
|
| 44 |
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0.15,
|
| 45 |
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-0.5,
|
| 46 |
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-0.1
|
| 47 |
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],
|
| 48 |
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"max": [
|
| 49 |
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0.65,
|
| 50 |
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0.5,
|
| 51 |
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0.6
|
| 52 |
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]
|
| 53 |
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}
|
| 54 |
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},
|
| 55 |
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"left": null,
|
| 56 |
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"right": null,
|
| 57 |
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"layout": {
|
| 58 |
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"preset": null,
|
| 59 |
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"params": {},
|
| 60 |
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"single": {
|
| 61 |
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"pos": [
|
| 62 |
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0.0,
|
| 63 |
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0.0,
|
| 64 |
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0.0
|
| 65 |
+
],
|
| 66 |
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"yaw_rad": 0.0,
|
| 67 |
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"quat": null
|
| 68 |
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},
|
| 69 |
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"left": null,
|
| 70 |
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"right": null
|
| 71 |
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},
|
| 72 |
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"visualize_tcp": false,
|
| 73 |
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"visualize_aabb": false
|
| 74 |
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},
|
| 75 |
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"cameras": {
|
| 76 |
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"static": {
|
| 77 |
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"front": {
|
| 78 |
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"pos": [
|
| 79 |
+
1.3,
|
| 80 |
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0.0,
|
| 81 |
+
0.5
|
| 82 |
+
],
|
| 83 |
+
"lookat": [
|
| 84 |
+
0.0,
|
| 85 |
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0.0,
|
| 86 |
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0.0
|
| 87 |
+
],
|
| 88 |
+
"fov": 75.0,
|
| 89 |
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"res": [
|
| 90 |
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224,
|
| 91 |
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224
|
| 92 |
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],
|
| 93 |
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"gui": false
|
| 94 |
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},
|
| 95 |
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"right_side": {
|
| 96 |
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"pos": [
|
| 97 |
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0.5,
|
| 98 |
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-1.2,
|
| 99 |
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0.6
|
| 100 |
+
],
|
| 101 |
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"lookat": [
|
| 102 |
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0.5,
|
| 103 |
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0.5,
|
| 104 |
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0.0
|
| 105 |
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],
|
| 106 |
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"fov": 65.0,
|
| 107 |
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"res": [
|
| 108 |
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224,
|
| 109 |
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224
|
| 110 |
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],
|
| 111 |
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"gui": false
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
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"dynamic": {
|
| 115 |
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"wrist": "wrist_cam"
|
| 116 |
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},
|
| 117 |
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"modalities": [
|
| 118 |
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"rgb",
|
| 119 |
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"depth"
|
| 120 |
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|
| 121 |
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}
|
| 122 |
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}
|
| 123 |
+
}
|
meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:03cc452a620717a589d0086190aedf60166a730119794a9b145194f86916e89e
|
| 3 |
+
size 2829233
|
meta/info.json
ADDED
|
@@ -0,0 +1,400 @@
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|
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|
| 1 |
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{
|
| 2 |
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"codebase_version": "v3.0",
|
| 3 |
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"robot_type": null,
|
| 4 |
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"total_episodes": 50,
|
| 5 |
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"total_frames": 15855,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
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|
| 9 |
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"video_files_size_in_mb": 500,
|
| 10 |
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"fps": 20,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:50"
|
| 13 |
+
},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
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"obs.state.gripper.qpos": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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