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- .gitattributes +276 -0
- official_data/umi_data/batch2/fold_clothes_e00042/data/chunk-000/file-000.parquet +3 -0
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- official_data/umi_data/batch2/fold_clothes_e00285/imu/episode_0000_left.csv +0 -0
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| 2626 |
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official_data/umi_data/batch2/fold_clothes_e00266/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e04975/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e02670/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e02670/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e07122/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e07122/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e05240/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e05240/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e05786/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e05786/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e04936/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e02547/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e02547/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e08724/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e08724/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e01536/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e08283/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e08283/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e01683/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e01683/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e02215/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e03402/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e03402/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e04098/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e00632/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e00632/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e04222/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e04222/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e08339/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e08339/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e08767/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e03202/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e03202/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e03202/imu/episode_0000_right.csv filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e03202/imu/episode_0000_left.csv filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e03667/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e02314/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e00042/videos/observation.audio.right_ego/episode_0000.m4a
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official_data/umi_data/batch2/fold_clothes_e00042/videos/observation.images.left_ego/chunk-000/file-000.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 39237499
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official_data/umi_data/batch2/fold_clothes_e00042/videos/observation.images.right_ego/chunk-000/file-000.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 44673330
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official_data/umi_data/batch2/fold_clothes_e00127/annotation/subtasks_000000.jsonl
ADDED
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@@ -0,0 +1 @@
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+
{"start_frame_index": 0, "end_frame_index": 1212, "instruction": "fold the black and white striped short sleeve", "instruction_zh": "fold the black and white striped short sleeve", "target_objects": ["黑灰条纹短袖"], "success": null}
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official_data/umi_data/batch2/fold_clothes_e00127/data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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size 245467
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official_data/umi_data/batch2/fold_clothes_e00127/export_meta.json
ADDED
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@@ -0,0 +1,42 @@
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{
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| 4 |
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|
| 5 |
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| 6 |
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|
| 7 |
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| 8 |
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| 9 |
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|
| 10 |
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"left_gripper",
|
| 11 |
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"right_x",
|
| 12 |
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"right_y",
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| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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| 17 |
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"img_size": 960,
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| 24 |
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| 25 |
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| 26 |
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| 28 |
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|
| 29 |
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|
| 30 |
+
"right_x",
|
| 31 |
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|
| 32 |
+
"right_z",
|
| 33 |
+
"right_qw",
|
| 34 |
+
"right_qx",
|
| 35 |
+
"right_qy",
|
| 36 |
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|
| 37 |
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"right_gripper"
|
| 38 |
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|
| 39 |
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"fps": 30.0,
|
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|
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|
| 42 |
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}
|
official_data/umi_data/batch2/fold_clothes_e00127/imu/episode_0000_left.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
|
official_data/umi_data/batch2/fold_clothes_e00127/imu/episode_0000_right.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
|
official_data/umi_data/batch2/fold_clothes_e00127/meta/annotation.json
ADDED
|
@@ -0,0 +1,14 @@
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{
|
| 2 |
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"schema_version": 2,
|
| 3 |
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|
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|
| 5 |
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|
| 6 |
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|
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|
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|
| 9 |
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|
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|
| 12 |
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|
| 13 |
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|
| 14 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00127/meta/calibration.json
ADDED
|
@@ -0,0 +1,333 @@
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|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
|
| 3 |
+
"sides": {
|
| 4 |
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"left": {
|
| 5 |
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"ego_video": {
|
| 6 |
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"source": "fisheye.mp4",
|
| 7 |
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"insv_stream": 0,
|
| 8 |
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"lens": "front",
|
| 9 |
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|
| 10 |
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|
| 11 |
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| 12 |
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],
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| 13 |
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|
| 14 |
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|
| 15 |
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960
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| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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| 26 |
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],
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"accel_bias_m_s2": [
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],
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| 37 |
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"gravity_magnitude_m_s2": 9.871162660794774,
|
| 38 |
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"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 39 |
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},
|
| 40 |
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"lenses": {
|
| 41 |
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"front": {
|
| 42 |
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|
| 43 |
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"canvas": [
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| 44 |
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|
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|
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"fy": 7091.99,
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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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|
| 72 |
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|
| 73 |
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|
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|
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|
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|
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"fy": 886.49875,
|
| 90 |
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"cx": 479.96125,
|
| 91 |
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"cy": 482.24
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"rear": {
|
| 95 |
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"model": "ucm_mei_radtan",
|
| 96 |
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"canvas": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
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"fy": 7120.12,
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"cx": 11536.3,
|
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"cy": 3833.5,
|
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"k1": 0.9454937,
|
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"k2": -1.77051091,
|
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"k3": 3.22309566,
|
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"p1": 0.0014388,
|
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|
| 111 |
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|
| 112 |
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"params_on_native_fisheye": {
|
| 113 |
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"xi": 2.31494,
|
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| 121 |
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| 123 |
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| 125 |
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| 126 |
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| 128 |
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| 129 |
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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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[
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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|
| 164 |
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"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
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| 165 |
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"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
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| 166 |
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| 168 |
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|
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|
| 203 |
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|
| 204 |
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|
| 205 |
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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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|
| 299 |
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|
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[
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|
| 324 |
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},
|
| 325 |
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"provenance": {
|
| 326 |
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"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 327 |
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"kalibr_refined": false,
|
| 328 |
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"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 329 |
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"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 330 |
+
}
|
| 331 |
+
}
|
| 332 |
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}
|
| 333 |
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|
official_data/umi_data/batch2/fold_clothes_e00127/meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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official_data/umi_data/batch2/fold_clothes_e00127/meta/info.json
ADDED
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@@ -0,0 +1,147 @@
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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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|
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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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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
+
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
+
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|
| 37 |
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|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
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|
| 41 |
+
"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
960,
|
| 44 |
+
960,
|
| 45 |
+
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|
| 46 |
+
],
|
| 47 |
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"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
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"channels"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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"video.channels": 3,
|
| 60 |
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|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
+
"observation.state": {
|
| 64 |
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"dtype": "float32",
|
| 65 |
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"shape": [
|
| 66 |
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|
| 67 |
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],
|
| 68 |
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"names": [
|
| 69 |
+
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|
| 70 |
+
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|
| 71 |
+
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
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| 91 |
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|
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|
| 94 |
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|
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
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|
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|
| 101 |
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|
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"right_y",
|
| 103 |
+
"right_z",
|
| 104 |
+
"right_qw",
|
| 105 |
+
"right_qx",
|
| 106 |
+
"right_qy",
|
| 107 |
+
"right_qz",
|
| 108 |
+
"right_gripper"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"timestamp": {
|
| 112 |
+
"dtype": "float32",
|
| 113 |
+
"shape": [
|
| 114 |
+
1
|
| 115 |
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],
|
| 116 |
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"names": null
|
| 117 |
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},
|
| 118 |
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"frame_index": {
|
| 119 |
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"dtype": "int64",
|
| 120 |
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"shape": [
|
| 121 |
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1
|
| 122 |
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],
|
| 123 |
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"names": null
|
| 124 |
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},
|
| 125 |
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"episode_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
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],
|
| 130 |
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"names": null
|
| 131 |
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|
| 132 |
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"index": {
|
| 133 |
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"dtype": "int64",
|
| 134 |
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"shape": [
|
| 135 |
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1
|
| 136 |
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],
|
| 137 |
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"names": null
|
| 138 |
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|
| 139 |
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"task_index": {
|
| 140 |
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"dtype": "int64",
|
| 141 |
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"shape": [
|
| 142 |
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1
|
| 143 |
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|
| 144 |
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"names": null
|
| 145 |
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}
|
| 146 |
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}
|
| 147 |
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}
|
official_data/umi_data/batch2/fold_clothes_e00127/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
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| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"min": [
|
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official_data/umi_data/batch2/fold_clothes_e00163/videos/observation.images.left_ego/chunk-000/file-000.mp4
ADDED
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official_data/umi_data/batch2/fold_clothes_e00163/videos/observation.images.right_ego/chunk-000/file-000.mp4
ADDED
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official_data/umi_data/batch2/fold_clothes_e00180/imu/episode_0000_left.csv
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official_data/umi_data/batch2/fold_clothes_e00180/imu/episode_0000_right.csv
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official_data/umi_data/batch2/fold_clothes_e00180/meta/annotation.json
ADDED
|
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|
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|
official_data/umi_data/batch2/fold_clothes_e00180/meta/calibration.json
ADDED
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|
| 1 |
+
{
|
| 2 |
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"note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
|
| 3 |
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"sides": {
|
| 4 |
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"left": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
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|
| 14 |
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|
| 15 |
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| 16 |
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"gravity_magnitude_m_s2": 9.886580231921933,
|
| 38 |
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"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 39 |
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},
|
| 40 |
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"lenses": {
|
| 41 |
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"front": {
|
| 42 |
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"model": "ucm_mei_radtan",
|
| 43 |
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"canvas": [
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| 44 |
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|
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|
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|
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|
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"fy": 7121.19,
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|
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|
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|
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|
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|
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
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|
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|
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|
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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"k3": 3.88589,
|
| 86 |
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"p1": -0.000638,
|
| 87 |
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"p2": -0.001934,
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|
| 327 |
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|
| 329 |
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"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 330 |
+
}
|
| 331 |
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}
|
| 332 |
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}
|
| 333 |
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official_data/umi_data/batch2/fold_clothes_e00180/meta/episodes/chunk-000/file-000.parquet
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official_data/umi_data/batch2/fold_clothes_e00180/meta/info.json
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@@ -0,0 +1,147 @@
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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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|
| 33 |
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|
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|
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|
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|
| 37 |
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|
| 38 |
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}
|
| 39 |
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},
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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960,
|
| 44 |
+
960,
|
| 45 |
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|
| 46 |
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],
|
| 47 |
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"names": [
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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],
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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|
| 64 |
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"dtype": "float32",
|
| 65 |
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|
| 67 |
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],
|
| 68 |
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"names": [
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| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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"left_qx",
|
| 74 |
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"left_qy",
|
| 75 |
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"left_qz",
|
| 76 |
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"left_gripper",
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| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 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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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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"left_qx",
|
| 98 |
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"left_qy",
|
| 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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|
| 106 |
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|
| 107 |
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"right_qz",
|
| 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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|
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|
| 117 |
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|
| 123 |
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|
| 124 |
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|
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|
| 126 |
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|
| 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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|
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|
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| 144 |
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|
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|
| 146 |
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|
| 147 |
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}
|
official_data/umi_data/batch2/fold_clothes_e00180/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
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official_data/umi_data/batch2/fold_clothes_e00180/videos/observation.images.right_ego/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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official_data/umi_data/batch2/fold_clothes_e00266/data/chunk-000/file-000.parquet
ADDED
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official_data/umi_data/batch2/fold_clothes_e00285/annotation/subtasks_000000.jsonl
ADDED
|
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| 1 |
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{"start_frame_index": 0, "end_frame_index": 842, "instruction": "unfold the white t-shirt", "instruction_zh": "unfold the white t-shirt", "target_objects": ["白色短袖"], "success": null}
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official_data/umi_data/batch2/fold_clothes_e00285/data/chunk-000/file-000.parquet
ADDED
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version https://git-lfs.github.com/spec/v1
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official_data/umi_data/batch2/fold_clothes_e00285/export_meta.json
ADDED
|
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 8 |
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|
| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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"right_x",
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| 32 |
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|
| 33 |
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"right_z",
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| 34 |
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"right_qw",
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| 35 |
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| 36 |
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"right_qy",
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| 37 |
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"right_qz",
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| 38 |
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"right_gripper"
|
| 39 |
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],
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| 40 |
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"img_size": 960,
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| 41 |
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"episodes": []
|
| 42 |
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}
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official_data/umi_data/batch2/fold_clothes_e00285/imu/episode_0000_left.csv
ADDED
|
The diff for this file is too large to render.
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|
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