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Browse files- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_fixed/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/axis_commit_state.json +41 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_fixed/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/axis_task_dataset.json +55 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_fixed/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/info.json +162 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_fixed/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/stats.json +1314 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_fixed/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/tasks.parquet +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/axis_commit_state.json +41 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/axis_task_dataset.json +55 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/info.json +162 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/stats.json +1314 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/videos/observation.images.wrist/chunk-000/file-070.mp4 +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/videos/observation.images.wrist/chunk-000/file-071.mp4 +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/videos/observation.images.wrist/chunk-000/file-072.mp4 +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/videos/observation.images.wrist/chunk-000/file-073.mp4 +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/videos/observation.images.wrist/chunk-000/file-074.mp4 +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/videos/observation.images.wrist/chunk-000/file-075.mp4 +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/videos/observation.images.wrist/chunk-000/file-076.mp4 +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/videos/observation.images.wrist/chunk-000/file-077.mp4 +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/videos/observation.images.wrist/chunk-000/file-078.mp4 +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/videos/observation.images.wrist/chunk-000/file-079.mp4 +3 -0
- Franka-2093-put_the_tennis_ball_into_the_bowl/task_manifest.json +618 -0
Franka-2093-put_the_tennis_ball_into_the_bowl/camera_fixed/task_2093_franka_put_the_tennis_ball_into_the_bowl/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": "2026-07-30T22:11:09.176779+00:00",
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"total_episodes": 20,
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}
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Franka-2093-put_the_tennis_ball_into_the_bowl/camera_fixed/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/axis_task_dataset.json
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{
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"task_id": 2093,
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"task_name": "Put the Tennis Ball into the Bowl",
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"embodiment_id": "franka",
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"model_id": "franka:task_2093:nq37:nv33:nu9",
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"repo_id": "local/axis_robosuite_render_formal_camera_fixed_task_2093_franka_put_the_tennis_ball_into_the_bowl",
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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_2093_franka_put_the_tennis_ball_into_the_bowl",
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"camera_frame_convention": "MuJoCo/OpenGL +X image-right,+Y up,-Z forward to world"
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"wrist": {
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"intrinsics_feature": "observation.cameras.wrist.intrinsics",
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| 53 |
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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-2093-put_the_tennis_ball_into_the_bowl/camera_fixed/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/info.json
ADDED
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| 103 |
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| 104 |
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|
| 105 |
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| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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| 117 |
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|
| 118 |
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|
| 119 |
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| 120 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
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|
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|
| 127 |
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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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|
| 141 |
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|
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|
| 143 |
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|
| 144 |
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|
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|
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|
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|
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|
| 149 |
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|
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|
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|
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|
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|
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|
| 161 |
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|
| 162 |
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|
Franka-2093-put_the_tennis_ball_into_the_bowl/camera_fixed/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/stats.json
ADDED
|
@@ -0,0 +1,1314 @@
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| 1 |
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Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/meta/axis_task_dataset.json
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| 3 |
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"task_name": "Put the Tennis Ball into the Bowl",
|
| 4 |
+
"embodiment_id": "franka",
|
| 5 |
+
"model_id": "franka:task_2093:nq37:nv33:nu9",
|
| 6 |
+
"repo_id": "local/axis_robosuite_render_formal_camera_randomized_task_2093_franka_put_the_tennis_ball_into_the_bowl",
|
| 7 |
+
"dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/data/robosuite_franka_unaccounted_task1724_2199_640x360_15hz_axis4090_2_20260721/lerobot_tasks/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl",
|
| 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-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/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": 20388,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
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"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 |
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],
|
| 31 |
+
"names": [
|
| 32 |
+
"action"
|
| 33 |
+
]
|
| 34 |
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},
|
| 35 |
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"observation.ee_state": {
|
| 36 |
+
"dtype": "float32",
|
| 37 |
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"shape": [
|
| 38 |
+
7
|
| 39 |
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],
|
| 40 |
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"names": [
|
| 41 |
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"ee_state"
|
| 42 |
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]
|
| 43 |
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},
|
| 44 |
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"observation.images.third_person": {
|
| 45 |
+
"dtype": "video",
|
| 46 |
+
"shape": [
|
| 47 |
+
360,
|
| 48 |
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|
| 49 |
+
3
|
| 50 |
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],
|
| 51 |
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"names": [
|
| 52 |
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"height",
|
| 53 |
+
"width",
|
| 54 |
+
"channel"
|
| 55 |
+
],
|
| 56 |
+
"info": {
|
| 57 |
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"video.height": 360,
|
| 58 |
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"video.width": 640,
|
| 59 |
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"video.codec": "h264",
|
| 60 |
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"video.pix_fmt": "yuv420p",
|
| 61 |
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"video.is_depth_map": false,
|
| 62 |
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"video.fps": 15,
|
| 63 |
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"video.channels": 3,
|
| 64 |
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"has_audio": false
|
| 65 |
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}
|
| 66 |
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},
|
| 67 |
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"observation.cameras.third_person.intrinsics": {
|
| 68 |
+
"dtype": "float32",
|
| 69 |
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"shape": [
|
| 70 |
+
9
|
| 71 |
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],
|
| 72 |
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"names": [
|
| 73 |
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"row_major"
|
| 74 |
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]
|
| 75 |
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},
|
| 76 |
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"observation.cameras.third_person.camera_to_world": {
|
| 77 |
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"dtype": "float32",
|
| 78 |
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"shape": [
|
| 79 |
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16
|
| 80 |
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],
|
| 81 |
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"names": [
|
| 82 |
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"row_major"
|
| 83 |
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]
|
| 84 |
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},
|
| 85 |
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|
| 86 |
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"dtype": "video",
|
| 87 |
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"shape": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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],
|
| 92 |
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|
| 93 |
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"height",
|
| 94 |
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|
| 95 |
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"channel"
|
| 96 |
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],
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 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 |
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"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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|
| 118 |
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"dtype": "float32",
|
| 119 |
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|
| 120 |
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16
|
| 121 |
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],
|
| 122 |
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|
| 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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|
| 128 |
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|
| 129 |
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|
| 130 |
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],
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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],
|
| 138 |
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|
| 139 |
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},
|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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"index": {
|
| 148 |
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"dtype": "int64",
|
| 149 |
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|
| 150 |
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|
| 151 |
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],
|
| 152 |
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|
| 153 |
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|
| 154 |
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"task_index": {
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
+
}
|
| 161 |
+
}
|
| 162 |
+
}
|
Franka-2093-put_the_tennis_ball_into_the_bowl/camera_randomized/task_2093_franka_put_the_tennis_ball_into_the_bowl/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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