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Browse files- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_fixed/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/axis_commit_state.json +41 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_fixed/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/axis_task_dataset.json +55 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_fixed/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/info.json +162 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_fixed/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/stats.json +1314 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/data/chunk-000/file-030.parquet +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/axis_commit_state.json +41 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/axis_task_dataset.json +55 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/info.json +162 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/stats.json +1314 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/videos/observation.images.wrist/chunk-000/file-070.mp4 +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/videos/observation.images.wrist/chunk-000/file-071.mp4 +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/videos/observation.images.wrist/chunk-000/file-072.mp4 +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/videos/observation.images.wrist/chunk-000/file-073.mp4 +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/videos/observation.images.wrist/chunk-000/file-074.mp4 +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/videos/observation.images.wrist/chunk-000/file-075.mp4 +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/videos/observation.images.wrist/chunk-000/file-076.mp4 +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/videos/observation.images.wrist/chunk-000/file-077.mp4 +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/videos/observation.images.wrist/chunk-000/file-078.mp4 +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/videos/observation.images.wrist/chunk-000/file-079.mp4 +3 -0
- Franka-2008-put_the_makeup_brush_beside_the_tweezers/task_manifest.json +618 -0
Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_fixed/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/axis_commit_state.json
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{
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"schema": "axis_lerobot_preencoded_commit_v1",
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"updated_at": "2026-07-30T22:03:38.260848+00:00",
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"total_episodes": 20,
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"total_frames": 6327,
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"repo_id": "local/axis_robosuite_render_formal_camera_fixed_task_2008_franka_put_the_makeup_brush_beside_the_tweezers",
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"fps": 15,
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"robot_type": "axis_robosuite",
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"last_identity": {
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"task_id": 2008,
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"task_name": "Put the Makeup Brush beside the Tweezers",
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"attempt_id": 1971553,
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"embodiment_id": "franka",
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"model_id": "franka:task_2008:nq37:nv33:nu9",
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"variant_id": 0,
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"render_fingerprint": "ec2d85a25e5b35395286b6b1a625bc3114b45d6d480ed40c21d46c574f2c45c7",
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"camera_group": "fixed",
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"camera_replica_id": 0
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},
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"last_indices": {
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"data": [
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],
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"episode": [
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],
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"videos": {
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"observation.images.wrist": [
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]
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}
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}
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}
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Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_fixed/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/axis_task_dataset.json
ADDED
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{
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"task_id": 2008,
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"task_name": "Put the Makeup Brush beside the Tweezers",
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"embodiment_id": "franka",
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| 5 |
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"model_id": "franka:task_2008:nq37:nv33:nu9",
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| 6 |
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"repo_id": "local/axis_robosuite_render_formal_camera_fixed_task_2008_franka_put_the_makeup_brush_beside_the_tweezers",
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| 7 |
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"dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/data/robosuite_franka_unaccounted_task1724_2199_640x360_15hz_axis4090_2_20260721/lerobot_tasks/camera_fixed/task_2008_franka_put_the_makeup_brush_beside_the_tweezers",
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"renderer_backend": "robosuite_table_arena_env_state_resampling",
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"state_feature": "observation.state",
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"action_semantics": "ctrl",
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"camera_features": {
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"intrinsics_feature": "observation.cameras.third_person.intrinsics",
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"camera_to_world_feature": "observation.cameras.third_person.camera_to_world",
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"intrinsics_storage": "row_major_flat",
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"intrinsics_source_shape": [
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"camera_to_world_storage": "row_major_flat",
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"camera_to_world_source_shape": [
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],
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"camera_frame_convention": "MuJoCo/OpenGL +X image-right,+Y up,-Z forward to world"
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| 31 |
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},
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| 32 |
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"wrist": {
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| 33 |
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"source_camera_name": "wrist",
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| 34 |
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"logical_camera_name": "wrist",
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| 35 |
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"image_feature": "observation.images.wrist",
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| 36 |
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"intrinsics_feature": "observation.cameras.wrist.intrinsics",
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| 37 |
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"camera_to_world_feature": "observation.cameras.wrist.camera_to_world",
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| 38 |
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"intrinsics_storage": "row_major_flat",
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"intrinsics_source_shape": [
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],
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"camera_to_world_storage": "row_major_flat",
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| 47 |
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],
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| 48 |
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"camera_frame_convention": "MuJoCo/OpenGL +X image-right,+Y up,-Z forward to world"
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| 49 |
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}
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| 50 |
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},
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| 51 |
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"camera_feature_provenance": "dataset logical schema plus per-episode physical camera sidecars",
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| 52 |
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"episode_sidecar_dir": "meta/axis_episodes",
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| 53 |
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"attempt_commit_dir": "meta/axis_attempt_commits",
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| 54 |
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"camera_group": "fixed"
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| 55 |
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}
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Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_fixed/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/info.json
ADDED
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@@ -0,0 +1,162 @@
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{
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| 97 |
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"info": {
|
| 98 |
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"video.height": 360,
|
| 99 |
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|
| 100 |
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"video.codec": "h264",
|
| 101 |
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"video.pix_fmt": "yuv420p",
|
| 102 |
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|
| 103 |
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|
| 104 |
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"video.channels": 3,
|
| 105 |
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"has_audio": false
|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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"observation.cameras.wrist.intrinsics": {
|
| 109 |
+
"dtype": "float32",
|
| 110 |
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"shape": [
|
| 111 |
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9
|
| 112 |
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],
|
| 113 |
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"names": [
|
| 114 |
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"row_major"
|
| 115 |
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]
|
| 116 |
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},
|
| 117 |
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"observation.cameras.wrist.camera_to_world": {
|
| 118 |
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"dtype": "float32",
|
| 119 |
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"shape": [
|
| 120 |
+
16
|
| 121 |
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],
|
| 122 |
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"names": [
|
| 123 |
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"row_major"
|
| 124 |
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]
|
| 125 |
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},
|
| 126 |
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"timestamp": {
|
| 127 |
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"dtype": "float32",
|
| 128 |
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"shape": [
|
| 129 |
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|
| 130 |
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],
|
| 131 |
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"names": null
|
| 132 |
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|
| 133 |
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"frame_index": {
|
| 134 |
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"dtype": "int64",
|
| 135 |
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"shape": [
|
| 136 |
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1
|
| 137 |
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],
|
| 138 |
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"names": null
|
| 139 |
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},
|
| 140 |
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"episode_index": {
|
| 141 |
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"dtype": "int64",
|
| 142 |
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"shape": [
|
| 143 |
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|
| 144 |
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|
| 145 |
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"names": null
|
| 146 |
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|
| 147 |
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"index": {
|
| 148 |
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"dtype": "int64",
|
| 149 |
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"shape": [
|
| 150 |
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1
|
| 151 |
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],
|
| 152 |
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"names": null
|
| 153 |
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|
| 154 |
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"task_index": {
|
| 155 |
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"dtype": "int64",
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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}
|
| 162 |
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}
|
Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_fixed/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/stats.json
ADDED
|
@@ -0,0 +1,1314 @@
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_id": 2008,
|
| 3 |
+
"task_name": "Put the Makeup Brush beside the Tweezers",
|
| 4 |
+
"embodiment_id": "franka",
|
| 5 |
+
"model_id": "franka:task_2008:nq37:nv33:nu9",
|
| 6 |
+
"repo_id": "local/axis_robosuite_render_formal_camera_randomized_task_2008_franka_put_the_makeup_brush_beside_the_tweezers",
|
| 7 |
+
"dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/data/robosuite_franka_unaccounted_task1724_2199_640x360_15hz_axis4090_2_20260721/lerobot_tasks/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers",
|
| 8 |
+
"renderer_backend": "robosuite_table_arena_env_state_resampling",
|
| 9 |
+
"state_feature": "observation.state",
|
| 10 |
+
"state_semantics": "actuated_joint_qpos_in_actuator_order",
|
| 11 |
+
"action_feature": "action",
|
| 12 |
+
"action_semantics": "ctrl",
|
| 13 |
+
"camera_features": {
|
| 14 |
+
"third_person": {
|
| 15 |
+
"logical_camera_name": "frontview",
|
| 16 |
+
"image_feature": "observation.images.third_person",
|
| 17 |
+
"intrinsics_feature": "observation.cameras.third_person.intrinsics",
|
| 18 |
+
"camera_to_world_feature": "observation.cameras.third_person.camera_to_world",
|
| 19 |
+
"intrinsics_storage": "row_major_flat",
|
| 20 |
+
"intrinsics_source_shape": [
|
| 21 |
+
3,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"camera_to_world_storage": "row_major_flat",
|
| 25 |
+
"camera_to_world_source_shape": [
|
| 26 |
+
4,
|
| 27 |
+
4
|
| 28 |
+
],
|
| 29 |
+
"camera_frame_convention": "MuJoCo/OpenGL +X image-right,+Y up,-Z forward to world",
|
| 30 |
+
"source_camera_name_policy": "physical camera name is per episode in meta/axis_episodes"
|
| 31 |
+
},
|
| 32 |
+
"wrist": {
|
| 33 |
+
"logical_camera_name": "wrist",
|
| 34 |
+
"image_feature": "observation.images.wrist",
|
| 35 |
+
"intrinsics_feature": "observation.cameras.wrist.intrinsics",
|
| 36 |
+
"camera_to_world_feature": "observation.cameras.wrist.camera_to_world",
|
| 37 |
+
"intrinsics_storage": "row_major_flat",
|
| 38 |
+
"intrinsics_source_shape": [
|
| 39 |
+
3,
|
| 40 |
+
3
|
| 41 |
+
],
|
| 42 |
+
"camera_to_world_storage": "row_major_flat",
|
| 43 |
+
"camera_to_world_source_shape": [
|
| 44 |
+
4,
|
| 45 |
+
4
|
| 46 |
+
],
|
| 47 |
+
"camera_frame_convention": "MuJoCo/OpenGL +X image-right,+Y up,-Z forward to world",
|
| 48 |
+
"source_camera_name_policy": "physical camera name is per episode in meta/axis_episodes"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"camera_feature_provenance": "dataset logical schema plus per-episode physical camera sidecars",
|
| 52 |
+
"episode_sidecar_dir": "meta/axis_episodes",
|
| 53 |
+
"attempt_commit_dir": "meta/axis_attempt_commits",
|
| 54 |
+
"camera_group": "randomized"
|
| 55 |
+
}
|
Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/info.json
ADDED
|
@@ -0,0 +1,162 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "axis_robosuite",
|
| 4 |
+
"total_episodes": 80,
|
| 5 |
+
"total_frames": 25308,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 15,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:80"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
9
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"state"
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"action": {
|
| 27 |
+
"dtype": "float32",
|
| 28 |
+
"shape": [
|
| 29 |
+
9
|
| 30 |
+
],
|
| 31 |
+
"names": [
|
| 32 |
+
"action"
|
| 33 |
+
]
|
| 34 |
+
},
|
| 35 |
+
"observation.ee_state": {
|
| 36 |
+
"dtype": "float32",
|
| 37 |
+
"shape": [
|
| 38 |
+
7
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
"ee_state"
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"observation.images.third_person": {
|
| 45 |
+
"dtype": "video",
|
| 46 |
+
"shape": [
|
| 47 |
+
360,
|
| 48 |
+
640,
|
| 49 |
+
3
|
| 50 |
+
],
|
| 51 |
+
"names": [
|
| 52 |
+
"height",
|
| 53 |
+
"width",
|
| 54 |
+
"channel"
|
| 55 |
+
],
|
| 56 |
+
"info": {
|
| 57 |
+
"video.height": 360,
|
| 58 |
+
"video.width": 640,
|
| 59 |
+
"video.codec": "h264",
|
| 60 |
+
"video.pix_fmt": "yuv420p",
|
| 61 |
+
"video.is_depth_map": false,
|
| 62 |
+
"video.fps": 15,
|
| 63 |
+
"video.channels": 3,
|
| 64 |
+
"has_audio": false
|
| 65 |
+
}
|
| 66 |
+
},
|
| 67 |
+
"observation.cameras.third_person.intrinsics": {
|
| 68 |
+
"dtype": "float32",
|
| 69 |
+
"shape": [
|
| 70 |
+
9
|
| 71 |
+
],
|
| 72 |
+
"names": [
|
| 73 |
+
"row_major"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"observation.cameras.third_person.camera_to_world": {
|
| 77 |
+
"dtype": "float32",
|
| 78 |
+
"shape": [
|
| 79 |
+
16
|
| 80 |
+
],
|
| 81 |
+
"names": [
|
| 82 |
+
"row_major"
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"observation.images.wrist": {
|
| 86 |
+
"dtype": "video",
|
| 87 |
+
"shape": [
|
| 88 |
+
360,
|
| 89 |
+
640,
|
| 90 |
+
3
|
| 91 |
+
],
|
| 92 |
+
"names": [
|
| 93 |
+
"height",
|
| 94 |
+
"width",
|
| 95 |
+
"channel"
|
| 96 |
+
],
|
| 97 |
+
"info": {
|
| 98 |
+
"video.height": 360,
|
| 99 |
+
"video.width": 640,
|
| 100 |
+
"video.codec": "h264",
|
| 101 |
+
"video.pix_fmt": "yuv420p",
|
| 102 |
+
"video.is_depth_map": false,
|
| 103 |
+
"video.fps": 15,
|
| 104 |
+
"video.channels": 3,
|
| 105 |
+
"has_audio": false
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"observation.cameras.wrist.intrinsics": {
|
| 109 |
+
"dtype": "float32",
|
| 110 |
+
"shape": [
|
| 111 |
+
9
|
| 112 |
+
],
|
| 113 |
+
"names": [
|
| 114 |
+
"row_major"
|
| 115 |
+
]
|
| 116 |
+
},
|
| 117 |
+
"observation.cameras.wrist.camera_to_world": {
|
| 118 |
+
"dtype": "float32",
|
| 119 |
+
"shape": [
|
| 120 |
+
16
|
| 121 |
+
],
|
| 122 |
+
"names": [
|
| 123 |
+
"row_major"
|
| 124 |
+
]
|
| 125 |
+
},
|
| 126 |
+
"timestamp": {
|
| 127 |
+
"dtype": "float32",
|
| 128 |
+
"shape": [
|
| 129 |
+
1
|
| 130 |
+
],
|
| 131 |
+
"names": null
|
| 132 |
+
},
|
| 133 |
+
"frame_index": {
|
| 134 |
+
"dtype": "int64",
|
| 135 |
+
"shape": [
|
| 136 |
+
1
|
| 137 |
+
],
|
| 138 |
+
"names": null
|
| 139 |
+
},
|
| 140 |
+
"episode_index": {
|
| 141 |
+
"dtype": "int64",
|
| 142 |
+
"shape": [
|
| 143 |
+
1
|
| 144 |
+
],
|
| 145 |
+
"names": null
|
| 146 |
+
},
|
| 147 |
+
"index": {
|
| 148 |
+
"dtype": "int64",
|
| 149 |
+
"shape": [
|
| 150 |
+
1
|
| 151 |
+
],
|
| 152 |
+
"names": null
|
| 153 |
+
},
|
| 154 |
+
"task_index": {
|
| 155 |
+
"dtype": "int64",
|
| 156 |
+
"shape": [
|
| 157 |
+
1
|
| 158 |
+
],
|
| 159 |
+
"names": null
|
| 160 |
+
}
|
| 161 |
+
}
|
| 162 |
+
}
|
Franka-2008-put_the_makeup_brush_beside_the_tweezers/camera_randomized/task_2008_franka_put_the_makeup_brush_beside_the_tweezers/meta/stats.json
ADDED
|
@@ -0,0 +1,1314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
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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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