JK2727 commited on
Commit
87ada13
·
verified ·
1 Parent(s): 1c0a8e6

Upload train unified v3 (part 10)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode493.json +88 -0
  2. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode493.npy +3 -0
  3. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode494.json +88 -0
  4. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode494.npy +3 -0
  5. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode495.json +88 -0
  6. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode495.npy +3 -0
  7. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode496.json +88 -0
  8. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode496.npy +3 -0
  9. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode497.json +88 -0
  10. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode497.npy +3 -0
  11. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode498.json +88 -0
  12. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode498.npy +3 -0
  13. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode499.json +88 -0
  14. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode499.npy +3 -0
  15. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode5.json +88 -0
  16. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode5.npy +3 -0
  17. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode50.json +88 -0
  18. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode50.npy +3 -0
  19. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode500.json +88 -0
  20. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode500.npy +3 -0
  21. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode501.json +88 -0
  22. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode501.npy +3 -0
  23. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode502.json +88 -0
  24. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode502.npy +3 -0
  25. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode503.json +88 -0
  26. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode503.npy +3 -0
  27. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode504.json +88 -0
  28. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode504.npy +3 -0
  29. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode505.json +88 -0
  30. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode505.npy +3 -0
  31. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode506.json +88 -0
  32. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode506.npy +3 -0
  33. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode507.json +88 -0
  34. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode507.npy +3 -0
  35. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode508.json +88 -0
  36. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode508.npy +3 -0
  37. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode509.json +88 -0
  38. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode509.npy +3 -0
  39. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode51.json +88 -0
  40. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode51.npy +3 -0
  41. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode510.json +88 -0
  42. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode510.npy +3 -0
  43. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode511.json +88 -0
  44. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode511.npy +3 -0
  45. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode512.json +88 -0
  46. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode512.npy +3 -0
  47. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode513.json +88 -0
  48. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode513.npy +3 -0
  49. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode514.json +88 -0
  50. train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode514.npy +3 -0
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode493.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 493,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 297,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.22394675016403198,
84
+ "max_abs_articulated_22d": 0.22394675016403198,
85
+ "rms_24d": 0.01812717877328396,
86
+ "rms_articulated_22d": 0.018933221697807312
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode493.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:218dba56f1e6e4da6aadf96cdbf84efea06dc3c4938ff82a54977b83187b0e40
3
+ size 28640
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode494.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 494,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 112,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.12057607620954514,
84
+ "max_abs_articulated_22d": 0.12057607620954514,
85
+ "rms_24d": 0.015775484964251518,
86
+ "rms_articulated_22d": 0.016476957127451897
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode494.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1da40a892774ff4ee7b581c99e279dd0ad48458d50f7cbd5e03aa2bfc63bd6b7
3
+ size 10880
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode495.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 495,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 821,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.1975020170211792,
84
+ "max_abs_articulated_22d": 0.1975020170211792,
85
+ "rms_24d": 0.02024816907942295,
86
+ "rms_articulated_22d": 0.021148523315787315
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode495.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a8a701e0cf0197be5f845a8b73d75ce47c42fa024511eaa214176c774e7b3579
3
+ size 78944
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode496.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 496,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 183,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.11489260196685791,
84
+ "max_abs_articulated_22d": 0.11489260196685791,
85
+ "rms_24d": 0.017460420727729797,
86
+ "rms_articulated_22d": 0.018236815929412842
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode496.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4611b824181305708484829b683766adebbc171c50d6b8eaa87c379fc42a671a
3
+ size 17696
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode497.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 497,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 171,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.0437244176864624,
84
+ "max_abs_articulated_22d": 0.0437244176864624,
85
+ "rms_24d": 0.007088003680109978,
86
+ "rms_articulated_22d": 0.0074031781405210495
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode497.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:772dcdd4dc9b5b5ee63be0fb8d5c2c8e6ae26ecd88b2fbd2c5f9d3807e9c4fa7
3
+ size 16544
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode498.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 498,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 706,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.1941501498222351,
84
+ "max_abs_articulated_22d": 0.1941501498222351,
85
+ "rms_24d": 0.018906839191913605,
86
+ "rms_articulated_22d": 0.019747549667954445
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode498.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8fc601ef9ae5b3cc6c27a4b29bf3a89cd60ca2118da20f5e59d56d6ed2e941eb
3
+ size 67904
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode499.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 499,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 654,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.1463097333908081,
84
+ "max_abs_articulated_22d": 0.1463097333908081,
85
+ "rms_24d": 0.022604715079069138,
86
+ "rms_articulated_22d": 0.023609856143593788
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode499.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:068781a95ed8dfb55054ed9d6a3eec04836f3bca4fb8da350c8eb7bee46aaa7e
3
+ size 62912
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode5.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 5,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 455,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.5308446288108826,
84
+ "max_abs_articulated_22d": 0.5308446288108826,
85
+ "rms_24d": 0.03419088199734688,
86
+ "rms_articulated_22d": 0.03571121394634247
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode5.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:52acc2affa834ccca2d4f4680d26d698cfca99554a30937ce59bed202d4d2184
3
+ size 43808
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode50.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 50,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 101,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.1504678726196289,
84
+ "max_abs_articulated_22d": 0.1504678726196289,
85
+ "rms_24d": 0.014153987169265747,
86
+ "rms_articulated_22d": 0.01478335727006197
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode50.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ebb0333d6ea89a5774ba00bd1ba3b4bf4761102b0fe5c0b320c2831d8ddda526
3
+ size 9824
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode500.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 500,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 172,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.3019512891769409,
84
+ "max_abs_articulated_22d": 0.3019512891769409,
85
+ "rms_24d": 0.026728877797722816,
86
+ "rms_articulated_22d": 0.027917401865124702
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode500.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93386e0e48d4e315de5255f3c4fbe1f1aff13b48ee73dbaf0c5a472575c49a04
3
+ size 16640
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode501.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 501,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 139,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.19831371307373047,
84
+ "max_abs_articulated_22d": 0.19831371307373047,
85
+ "rms_24d": 0.02589487098157406,
86
+ "rms_articulated_22d": 0.027046311646699905
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode501.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:280da981cddd5f6b3d0615197c6fe8ca9ed47eb917ebbce9424a69ed4c1a5296
3
+ size 13472
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode502.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 502,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 234,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.2206631600856781,
84
+ "max_abs_articulated_22d": 0.2206631600856781,
85
+ "rms_24d": 0.027530129998922348,
86
+ "rms_articulated_22d": 0.028754282742738724
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode502.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f8aa3c705015d82415c4a5faf000e281a8a8505b084e203e0152d357c2e1776
3
+ size 22592
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode503.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 503,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 161,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.22336214780807495,
84
+ "max_abs_articulated_22d": 0.22336214780807495,
85
+ "rms_24d": 0.030437644571065903,
86
+ "rms_articulated_22d": 0.0317910835146904
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode503.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:689e97794c5be27658904409a8d525dc53a17d872f7fef4a2aa02f2358ff300f
3
+ size 15584
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode504.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 504,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 125,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.1707863211631775,
84
+ "max_abs_articulated_22d": 0.1707863211631775,
85
+ "rms_24d": 0.02967911772429943,
86
+ "rms_articulated_22d": 0.030998827889561653
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode504.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dbeefb834f14cc9feefa0acbdc7beb2cf8a5917f6d803bb991739f557bed30b3
3
+ size 12128
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode505.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 505,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 120,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.17681285738945007,
84
+ "max_abs_articulated_22d": 0.17681285738945007,
85
+ "rms_24d": 0.024166520684957504,
86
+ "rms_articulated_22d": 0.025241106748580933
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode505.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d67c0b26e97b0af10769e6b5d64c670c1e34bf013cb835556bc46d53a7ec5ca5
3
+ size 11648
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode506.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 506,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 705,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.20498622953891754,
84
+ "max_abs_articulated_22d": 0.20498622953891754,
85
+ "rms_24d": 0.02542734518647194,
86
+ "rms_articulated_22d": 0.02655799686908722
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode506.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7a3b5364e9af1a1ef2804e6a6c4159d1db79f1ebf88d94729e7938ce18a6b83c
3
+ size 67808
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode507.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 507,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 144,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.0971825122833252,
84
+ "max_abs_articulated_22d": 0.0971825122833252,
85
+ "rms_24d": 0.02001744508743286,
86
+ "rms_articulated_22d": 0.020907539874315262
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode507.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ebadbe97451927636d19bee44e8ac24770719aa1de5de0dc8d4bf7e0529963d
3
+ size 13952
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode508.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 508,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 351,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.14309421181678772,
84
+ "max_abs_articulated_22d": 0.14309421181678772,
85
+ "rms_24d": 0.018819550052285194,
86
+ "rms_articulated_22d": 0.019656378775835037
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode508.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ea0cc48ad55391e97fa8d3afed712633ce69e5cde03128ef05b95b401ba07cf
3
+ size 33824
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode509.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 509,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 544,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.18929852545261383,
84
+ "max_abs_articulated_22d": 0.18929852545261383,
85
+ "rms_24d": 0.013725358992815018,
86
+ "rms_articulated_22d": 0.014335669577121735
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode509.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5376e9535bdf89afaa00ccc84c181d98975cb51b5da8f0f88d787195bbf68792
3
+ size 52352
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode51.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 51,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 143,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.11057531833648682,
84
+ "max_abs_articulated_22d": 0.11057531833648682,
85
+ "rms_24d": 0.021725239232182503,
86
+ "rms_articulated_22d": 0.0226912721991539
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode51.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f8687334132c2c3cf6ba1fade76a0fcd8d075523980290b3f8b43bbdfbe8599e
3
+ size 13856
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode510.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 510,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 124,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.053173720836639404,
84
+ "max_abs_articulated_22d": 0.053173720836639404,
85
+ "rms_24d": 0.008023242466151714,
86
+ "rms_articulated_22d": 0.008380004204809666
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode510.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93fbeb79a9ca14b152a4e1d095451767af3bb9c0697cc7df0541efab069d2448
3
+ size 12032
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode511.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 511,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 131,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.0620725154876709,
84
+ "max_abs_articulated_22d": 0.0620725154876709,
85
+ "rms_24d": 0.011417429894208908,
86
+ "rms_articulated_22d": 0.01192511711269617
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode511.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c621263aad2b8bb9e8f0d56caecc5acf7ad135f7c39a7a55be5428bce7d69a2
3
+ size 12704
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode512.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 512,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 213,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.1753324568271637,
84
+ "max_abs_articulated_22d": 0.1753324568271637,
85
+ "rms_24d": 0.020354950800538063,
86
+ "rms_articulated_22d": 0.021260052919387817
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode512.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e6883d13da291e7a2e74e35f92970ff856e42e94783b1b73670f579543311fc1
3
+ size 20576
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode513.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 513,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 130,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.1635867953300476,
84
+ "max_abs_articulated_22d": 0.1635867953300476,
85
+ "rms_24d": 0.0256746057420969,
86
+ "rms_articulated_22d": 0.026816250756382942
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode513.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6a6b5c0b52966d40cb222af2734ce0a808a811c97a419defecdb4f345b52347
3
+ size 12608
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode514.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "articulated_dimensions": {
3
+ "indices": [
4
+ 2,
5
+ 3,
6
+ 4,
7
+ 5,
8
+ 6,
9
+ 7,
10
+ 8,
11
+ 9,
12
+ 10,
13
+ 11,
14
+ 12,
15
+ 13,
16
+ 14,
17
+ 15,
18
+ 16,
19
+ 17,
20
+ 18,
21
+ 19,
22
+ 20,
23
+ 21,
24
+ 22,
25
+ 23
26
+ ],
27
+ "source": "isaac_articulation_get_joint_positions"
28
+ },
29
+ "dtype": "float32",
30
+ "episode": 514,
31
+ "fields": {
32
+ "head/position": [
33
+ 16,
34
+ 17,
35
+ 18
36
+ ],
37
+ "joint/position": [
38
+ 2,
39
+ 3,
40
+ 4,
41
+ 5,
42
+ 6,
43
+ 7,
44
+ 8,
45
+ 9,
46
+ 10,
47
+ 11,
48
+ 12,
49
+ 13,
50
+ 14,
51
+ 15
52
+ ],
53
+ "left_effector/position": [
54
+ 0
55
+ ],
56
+ "right_effector/position": [
57
+ 1
58
+ ],
59
+ "waist/position": [
60
+ 19,
61
+ 20,
62
+ 21,
63
+ 22,
64
+ 23
65
+ ]
66
+ },
67
+ "fps": 30,
68
+ "gripper_dimensions": {
69
+ "indices": [
70
+ 0,
71
+ 1
72
+ ],
73
+ "note": "crt_120s fingers are kinematic and have no articulation DOF",
74
+ "source": "realized_kinematic_open_fraction"
75
+ },
76
+ "sample_timing": "after_controller_target_and_simulation_update",
77
+ "schema_version": 1,
78
+ "shape": [
79
+ 217,
80
+ 24
81
+ ],
82
+ "tracking_error_vs_target": {
83
+ "max_abs_24d": 0.18948441743850708,
84
+ "max_abs_articulated_22d": 0.18948441743850708,
85
+ "rms_24d": 0.023950204253196716,
86
+ "rms_articulated_22d": 0.025015171617269516
87
+ }
88
+ }
train/unified/v3/AgiBotWorld-RichInteraction/task_4560/sim/state/episode514.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e8aefb69b2b736b36a96ee0dc12fa6bad3115708b62bda8c62988da5290b27a
3
+ size 20960