add N023/go2_arm/dr_off/seed_1103
Browse files- N023/go2_arm/dr_off/seed_1103/check.json +57 -0
- N023/go2_arm/dr_off/seed_1103/check.txt +21 -0
- N023/go2_arm/dr_off/seed_1103/report.json +2390 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/completed/0.json +1 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet +3 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/episodes.jsonl +1 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl +1 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json +564 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/info.json +287 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json +290 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/stats.json +0 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/tasks.jsonl +1 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 +3 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/run_meta.json +886 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/sim_info/0/actions.npz +3 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/sim_info/0/device_commands.jsonl +0 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/sim_info/0/device_events.jsonl +0 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/sim_info/0/scene_snapshot.json +283 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/sim_info/0/sim_states.npz +3 -0
- N023/go2_arm/dr_off/seed_1103/stationassembly/000/sim_info/magicsim_manifest.json +259 -0
N023/go2_arm/dr_off/seed_1103/check.json
ADDED
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{
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"ok": true,
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"results": {
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"codebase v2.1": {
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"pass": true,
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"detail": "v2.1"
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},
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"dataset fps = 25": {
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"pass": true,
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"detail": "info.fps 25"
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},
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"parquet episodes": {
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"pass": true,
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"detail": "1 files, info.total_episodes=1"
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},
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"observation.state shape": {
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"pass": true,
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"detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
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},
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"action shape": {
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"pass": true,
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"detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
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},
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"task text = MobileBench instruction": {
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"pass": true,
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"detail": "task_index 0: 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'"
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},
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"rows = recorded control steps / 2 (= episode length at 25 Hz)": {
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"pass": true,
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"detail": "4421 rows vs ceil(8841/2) = 4421"
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},
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"rows are every 2nd control step (sim_step_idx)": {
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"pass": true,
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"detail": "sim_step_idx 31..8871, step differences [2]"
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},
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"video observation.images.head decodes, 640x480, not black": {
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"pass": true,
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"detail": "44.81 MB, 4421 frames at 25 fps, mean luma 122..139, std 28, new picture 4420x = 25.0 per s"
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},
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"video observation.images.head frames = parquet rows": {
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"pass": true,
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"detail": "4421 vs 4421"
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},
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"video observation.images.wrist decodes, 640x480, not black": {
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"pass": true,
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"detail": "111.35 MB, 4421 frames at 25 fps, mean luma 114..171, std 35, new picture 4420x = 25.0 per s"
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},
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"video observation.images.wrist frames = parquet rows": {
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"pass": true,
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"detail": "4421 vs 4421"
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},
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"sim_info present": {
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"pass": true,
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"detail": "stationassembly/000/sim_info"
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}
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}
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}
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N023/go2_arm/dr_off/seed_1103/check.txt
ADDED
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collect dataset check cell=/mnt/scratch/xc536_atomic/n023_go2_off_1103/out task=N023 at verify_collect_dataset.py
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dataset root /mnt/scratch/xc536_atomic/n023_go2_off_1103/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 4421 videos 2 robot_type Go2PlusCfg
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[PASS] codebase v2.1: v2.1
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[PASS] dataset fps = 25: info.fps 25
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(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
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[PASS] parquet episodes: 1 files, info.total_episodes=1
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--- episode file episode_000000.parquet: 4421 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
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[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
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[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
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[PASS] task text = MobileBench instruction: task_index 0: 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'
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rows 4421 at dataset fps 25 = 176.84 s
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[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 4421 rows vs ceil(8841/2) = 4421
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[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..8871, step differences [2]
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[PASS] video observation.images.head decodes, 640x480, not black: 44.81 MB, 4421 frames at 25 fps, mean luma 122..139, std 28, new picture 4420x = 25.0 per s
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[PASS] video observation.images.head frames = parquet rows: 4421 vs 4421
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[PASS] video observation.images.wrist decodes, 640x480, not black: 111.35 MB, 4421 frames at 25 fps, mean luma 114..171, std 35, new picture 4420x = 25.0 per s
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[PASS] video observation.images.wrist frames = parquet rows: 4421 vs 4421
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parquet size 20.57 MB
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[PASS] sim_info present: stationassembly/000/sim_info
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dataset size 176.97 MB; whole cell dir 181.5 MB
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RESULT: ALL PASS
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N023/go2_arm/dr_off/seed_1103/report.json
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2.998
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| 1759 |
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| 1760 |
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2.998
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| 1764 |
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| 1765 |
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| 1769 |
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| 1770 |
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| 1775 |
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| 1779 |
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| 1780 |
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| 1790 |
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2.993
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2.993
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| 1799 |
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| 1800 |
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| 1801 |
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2.993
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| 1805 |
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2.993
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| 1809 |
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| 1810 |
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2.993
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| 1814 |
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| 1815 |
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0.89,
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2.993
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| 1820 |
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0.891,
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2.992
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| 1823 |
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| 1824 |
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[
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| 1825 |
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0.891,
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| 1827 |
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2.992
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| 1828 |
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|
| 1829 |
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[
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| 1830 |
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| 1831 |
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0.891,
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| 1832 |
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2.992
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| 1833 |
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| 1834 |
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[
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| 1835 |
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| 1836 |
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0.891,
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| 1837 |
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2.992
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| 1838 |
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| 1839 |
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[
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| 1840 |
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| 1841 |
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0.891,
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| 1842 |
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2.992
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| 1843 |
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| 1844 |
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[
|
| 1845 |
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| 1846 |
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0.891,
|
| 1847 |
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2.988
|
| 1848 |
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| 1849 |
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[
|
| 1850 |
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-1.931,
|
| 1851 |
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0.89,
|
| 1852 |
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2.983
|
| 1853 |
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],
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| 1854 |
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[
|
| 1855 |
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-1.928,
|
| 1856 |
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0.89,
|
| 1857 |
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2.982
|
| 1858 |
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|
| 1859 |
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[
|
| 1860 |
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-1.928,
|
| 1861 |
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0.89,
|
| 1862 |
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2.986
|
| 1863 |
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],
|
| 1864 |
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[
|
| 1865 |
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-1.928,
|
| 1866 |
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0.89,
|
| 1867 |
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2.985
|
| 1868 |
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],
|
| 1869 |
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[
|
| 1870 |
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-1.929,
|
| 1871 |
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0.889,
|
| 1872 |
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2.987
|
| 1873 |
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|
| 1874 |
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[
|
| 1875 |
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-1.929,
|
| 1876 |
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0.889,
|
| 1877 |
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2.987
|
| 1878 |
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],
|
| 1879 |
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[
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| 1880 |
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N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl
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N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json
ADDED
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| 231 |
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| 232 |
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},
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"effects": [],
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"caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is to the left of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front, at table height.",
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"layout_ascii": " +x forward / +y left (top-down view)\n[[cap]n holder]\n\n\n\n\n\n\n\n [robot]"
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},
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"task": {
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| 270 |
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"task_type": "StationAssembly",
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"instruction": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.",
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},
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"generic_instruction": "Stationassembly the 1.5707963267948966.",
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"task_id": "N023",
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},
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"frame_idx": 7354,
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"caption": "Computing a grasp pose for the small cap; the right gripper is below and to the left of and in front of the cap.",
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"skill": "ReachStance",
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"phase": "search",
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"below",
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]
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},
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"frame_7397": {
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"frame_idx": 7397,
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"caption": "Working on the small cap; the right gripper is below and to the left of and in front of the cap.",
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"skill": "ReachStance",
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"phase": "walk",
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"skill_state": "running",
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"planner": "MobileServoL",
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"planner_state": "running",
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"below",
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"left_of",
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]
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},
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"frame_7536": {
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"frame_idx": 7536,
|
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"caption": "Working on the small cap; the right gripper is below and to the left of the cap.",
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"skill": "ReachStance",
|
| 318 |
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"phase": "walk",
|
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"skill_state": "running",
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"planner": "MobileServoL",
|
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"planner_state": "running",
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"target": "cap_1",
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"below",
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"left_of"
|
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]
|
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},
|
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"frame_7587": {
|
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"frame_idx": 7587,
|
| 331 |
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"caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
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| 332 |
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"skill": "ReachStance",
|
| 333 |
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"phase": "walk",
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"skill_state": "running",
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"planner": "MobileServoL",
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"planner_state": "running",
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"target": "cap_1",
|
| 338 |
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"hand_id": 0,
|
| 339 |
+
"eef_relation": [
|
| 340 |
+
"below",
|
| 341 |
+
"left_of",
|
| 342 |
+
"behind"
|
| 343 |
+
]
|
| 344 |
+
},
|
| 345 |
+
"frame_7645": {
|
| 346 |
+
"frame_idx": 7645,
|
| 347 |
+
"caption": "Working on the small cap; the right gripper is below and to the left of the cap.",
|
| 348 |
+
"skill": "ReachStance",
|
| 349 |
+
"phase": "walk",
|
| 350 |
+
"skill_state": "running",
|
| 351 |
+
"planner": "MobileServoL",
|
| 352 |
+
"planner_state": "running",
|
| 353 |
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"target": "cap_1",
|
| 354 |
+
"hand_id": 0,
|
| 355 |
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"eef_relation": [
|
| 356 |
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"below",
|
| 357 |
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"left_of"
|
| 358 |
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]
|
| 359 |
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},
|
| 360 |
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"frame_7648": {
|
| 361 |
+
"frame_idx": 7648,
|
| 362 |
+
"caption": "Working on the small cap; the right gripper is below the cap.",
|
| 363 |
+
"skill": "ReachStance",
|
| 364 |
+
"phase": "walk",
|
| 365 |
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"skill_state": "running",
|
| 366 |
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"planner": "MobileServoL",
|
| 367 |
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"planner_state": "running",
|
| 368 |
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"target": "cap_1",
|
| 369 |
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"hand_id": 0,
|
| 370 |
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"eef_relation": [
|
| 371 |
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"below"
|
| 372 |
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]
|
| 373 |
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},
|
| 374 |
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"frame_7669": {
|
| 375 |
+
"frame_idx": 7669,
|
| 376 |
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"caption": "Working on the small cap; the right gripper is below and in front of the cap.",
|
| 377 |
+
"skill": "ReachStance",
|
| 378 |
+
"phase": "walk",
|
| 379 |
+
"skill_state": "running",
|
| 380 |
+
"planner": "MobileServoL",
|
| 381 |
+
"planner_state": "running",
|
| 382 |
+
"target": "cap_1",
|
| 383 |
+
"hand_id": 0,
|
| 384 |
+
"eef_relation": [
|
| 385 |
+
"below",
|
| 386 |
+
"in_front_of"
|
| 387 |
+
]
|
| 388 |
+
},
|
| 389 |
+
"frame_7767": {
|
| 390 |
+
"frame_idx": 7767,
|
| 391 |
+
"caption": "Working on the small cap; the right gripper is below and to the left of and in front of the cap.",
|
| 392 |
+
"skill": "ReachStance",
|
| 393 |
+
"phase": "walk",
|
| 394 |
+
"skill_state": "running",
|
| 395 |
+
"planner": "MobileServoL",
|
| 396 |
+
"planner_state": "running",
|
| 397 |
+
"target": "cap_1",
|
| 398 |
+
"hand_id": 0,
|
| 399 |
+
"eef_relation": [
|
| 400 |
+
"below",
|
| 401 |
+
"left_of",
|
| 402 |
+
"in_front_of"
|
| 403 |
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]
|
| 404 |
+
},
|
| 405 |
+
"frame_7770": {
|
| 406 |
+
"frame_idx": 7770,
|
| 407 |
+
"caption": "Working on the small cap; the right gripper is below and in front of the cap.",
|
| 408 |
+
"skill": "ReachStance",
|
| 409 |
+
"phase": "walk",
|
| 410 |
+
"skill_state": "running",
|
| 411 |
+
"planner": "MobileServoL",
|
| 412 |
+
"planner_state": "running",
|
| 413 |
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"target": "cap_1",
|
| 414 |
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"hand_id": 0,
|
| 415 |
+
"eef_relation": [
|
| 416 |
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"below",
|
| 417 |
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"in_front_of"
|
| 418 |
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]
|
| 419 |
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},
|
| 420 |
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"frame_7779": {
|
| 421 |
+
"frame_idx": 7779,
|
| 422 |
+
"caption": "Working on the small cap; the right gripper is below and to the left of and in front of the cap.",
|
| 423 |
+
"skill": "ReachStance",
|
| 424 |
+
"phase": "walk",
|
| 425 |
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"skill_state": "running",
|
| 426 |
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"planner": "MobileServoL",
|
| 427 |
+
"planner_state": "running",
|
| 428 |
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"target": "cap_1",
|
| 429 |
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"hand_id": 0,
|
| 430 |
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"eef_relation": [
|
| 431 |
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"below",
|
| 432 |
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"left_of",
|
| 433 |
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"in_front_of"
|
| 434 |
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]
|
| 435 |
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},
|
| 436 |
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"frame_7805": {
|
| 437 |
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"frame_idx": 7805,
|
| 438 |
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"caption": "Working on the small cap; the right gripper is below and in front of the cap.",
|
| 439 |
+
"skill": "ReachStance",
|
| 440 |
+
"phase": "walk",
|
| 441 |
+
"skill_state": "running",
|
| 442 |
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"planner": "MobileServoL",
|
| 443 |
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"planner_state": "running",
|
| 444 |
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"target": "cap_1",
|
| 445 |
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"hand_id": 0,
|
| 446 |
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"eef_relation": [
|
| 447 |
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"below",
|
| 448 |
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"in_front_of"
|
| 449 |
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]
|
| 450 |
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},
|
| 451 |
+
"frame_7883": {
|
| 452 |
+
"frame_idx": 7883,
|
| 453 |
+
"caption": "Computing a grasp pose for the small cap; the right gripper is below and in front of the cap.",
|
| 454 |
+
"skill": "ReachStance",
|
| 455 |
+
"phase": "verify",
|
| 456 |
+
"skill_state": "computing",
|
| 457 |
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"planner": "MobileServoL",
|
| 458 |
+
"planner_state": "finished",
|
| 459 |
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"target": "cap_1",
|
| 460 |
+
"hand_id": 0,
|
| 461 |
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"eef_relation": [
|
| 462 |
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"below",
|
| 463 |
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"in_front_of"
|
| 464 |
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]
|
| 465 |
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},
|
| 466 |
+
"frame_7957": {
|
| 467 |
+
"frame_idx": 7957,
|
| 468 |
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"caption": "Working on the small cap; the right gripper is below and in front of the cap.",
|
| 469 |
+
"skill": "AssemblyGrasp",
|
| 470 |
+
"phase": "pre_grasp",
|
| 471 |
+
"skill_state": "running",
|
| 472 |
+
"planner": "MobileMoveL",
|
| 473 |
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"planner_state": "running",
|
| 474 |
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"target": "cap_1",
|
| 475 |
+
"hand_id": 0,
|
| 476 |
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"eef_relation": [
|
| 477 |
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"below",
|
| 478 |
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"in_front_of"
|
| 479 |
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]
|
| 480 |
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},
|
| 481 |
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"frame_8039": {
|
| 482 |
+
"frame_idx": 8039,
|
| 483 |
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"caption": "Working on the small cap; the right gripper is below the cap.",
|
| 484 |
+
"skill": "AssemblyGrasp",
|
| 485 |
+
"phase": "pre_grasp",
|
| 486 |
+
"skill_state": "running",
|
| 487 |
+
"planner": "MobileMoveL",
|
| 488 |
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"planner_state": "running",
|
| 489 |
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"target": "cap_1",
|
| 490 |
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"hand_id": 0,
|
| 491 |
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"eef_relation": [
|
| 492 |
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"below"
|
| 493 |
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]
|
| 494 |
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},
|
| 495 |
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"frame_8182": {
|
| 496 |
+
"frame_idx": 8182,
|
| 497 |
+
"caption": "Done — the small cap is grasped; the right gripper is below the cap.",
|
| 498 |
+
"skill": "Grasp",
|
| 499 |
+
"phase": "completed",
|
| 500 |
+
"skill_state": "finished",
|
| 501 |
+
"planner": "ParallelGripper",
|
| 502 |
+
"planner_state": "finished",
|
| 503 |
+
"target": "cap_1",
|
| 504 |
+
"hand_id": 0,
|
| 505 |
+
"eef_relation": [
|
| 506 |
+
"below"
|
| 507 |
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]
|
| 508 |
+
},
|
| 509 |
+
"frame_8183": {
|
| 510 |
+
"frame_idx": 8183,
|
| 511 |
+
"caption": "Working on the small cap; the right gripper is below the cap.",
|
| 512 |
+
"skill": "AssemblyInsert",
|
| 513 |
+
"phase": "wp:start",
|
| 514 |
+
"skill_state": "running",
|
| 515 |
+
"planner": "AssemblyServoL",
|
| 516 |
+
"planner_state": "running",
|
| 517 |
+
"target": "cap_1",
|
| 518 |
+
"hand_id": 0,
|
| 519 |
+
"eef_relation": [
|
| 520 |
+
"below"
|
| 521 |
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]
|
| 522 |
+
},
|
| 523 |
+
"frame_8466": {
|
| 524 |
+
"frame_idx": 8466,
|
| 525 |
+
"caption": "Working on the small cap; the right gripper is below and behind the cap.",
|
| 526 |
+
"skill": "AssemblyInsert",
|
| 527 |
+
"phase": "wp:over_tail",
|
| 528 |
+
"skill_state": "running",
|
| 529 |
+
"planner": "AssemblyServoL",
|
| 530 |
+
"planner_state": "running",
|
| 531 |
+
"target": "cap_1",
|
| 532 |
+
"hand_id": 0,
|
| 533 |
+
"eef_relation": [
|
| 534 |
+
"below",
|
| 535 |
+
"behind"
|
| 536 |
+
]
|
| 537 |
+
},
|
| 538 |
+
"frame_8471": {
|
| 539 |
+
"frame_idx": 8471,
|
| 540 |
+
"caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
|
| 541 |
+
"skill": "AssemblyInsert",
|
| 542 |
+
"phase": "wp:over_tail",
|
| 543 |
+
"skill_state": "running",
|
| 544 |
+
"planner": "AssemblyServoL",
|
| 545 |
+
"planner_state": "running",
|
| 546 |
+
"target": "cap_1",
|
| 547 |
+
"hand_id": 0,
|
| 548 |
+
"eef_relation": [
|
| 549 |
+
"below",
|
| 550 |
+
"left_of",
|
| 551 |
+
"behind"
|
| 552 |
+
]
|
| 553 |
+
}
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"depth_range": [
|
| 557 |
+
0.1,
|
| 558 |
+
20.0
|
| 559 |
+
],
|
| 560 |
+
"annotation_sidecar": null,
|
| 561 |
+
"annotation_sidecar_keys": [],
|
| 562 |
+
"terminated": true,
|
| 563 |
+
"truncated": false
|
| 564 |
+
}
|
N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/info.json
ADDED
|
@@ -0,0 +1,287 @@
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "Go2PlusCfg",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 4421,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 25,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
12
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"base_action_0",
|
| 24 |
+
"base_action_1",
|
| 25 |
+
"base_action_2",
|
| 26 |
+
"base_action_3",
|
| 27 |
+
"eef0.pos_x",
|
| 28 |
+
"eef0.pos_y",
|
| 29 |
+
"eef0.pos_z",
|
| 30 |
+
"eef0.quat_w",
|
| 31 |
+
"eef0.quat_x",
|
| 32 |
+
"eef0.quat_y",
|
| 33 |
+
"eef0.quat_z",
|
| 34 |
+
"gripper"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
"action_is_hold": {
|
| 38 |
+
"dtype": "bool",
|
| 39 |
+
"shape": [
|
| 40 |
+
12
|
| 41 |
+
],
|
| 42 |
+
"names": null
|
| 43 |
+
},
|
| 44 |
+
"observation.state": {
|
| 45 |
+
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|
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| 88 |
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| 89 |
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| 90 |
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| 94 |
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|
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|
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|
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|
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|
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|
| 285 |
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|
| 286 |
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|
| 287 |
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}
|
N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json
ADDED
|
@@ -0,0 +1,290 @@
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"generated": {
|
| 4 |
+
"time": "2026-11-10 04:24:49"
|
| 5 |
+
},
|
| 6 |
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"embodiment": {
|
| 7 |
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"robots": [
|
| 8 |
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{
|
| 9 |
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"name": "Go2Plus",
|
| 10 |
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"cfg": "Go2PlusCfg",
|
| 11 |
+
"type": "mobilemanip",
|
| 12 |
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"joint_names": [
|
| 13 |
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"go2_FL_hip_joint",
|
| 14 |
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"go2_FR_hip_joint",
|
| 15 |
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"go2_RL_hip_joint",
|
| 16 |
+
"go2_RR_hip_joint",
|
| 17 |
+
"piper_joint1",
|
| 18 |
+
"go2_FL_thigh_joint",
|
| 19 |
+
"go2_FR_thigh_joint",
|
| 20 |
+
"go2_RL_thigh_joint",
|
| 21 |
+
"go2_RR_thigh_joint",
|
| 22 |
+
"piper_joint2",
|
| 23 |
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"go2_FL_calf_joint",
|
| 24 |
+
"go2_FR_calf_joint",
|
| 25 |
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"go2_RL_calf_joint",
|
| 26 |
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"go2_RR_calf_joint",
|
| 27 |
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"piper_joint3",
|
| 28 |
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|
| 29 |
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"piper_joint5",
|
| 30 |
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"piper_joint6",
|
| 31 |
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"piper_joint7",
|
| 32 |
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"piper_joint8"
|
| 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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"timing": {
|
| 38 |
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"fps": 50.0,
|
| 39 |
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"fps_int": 50,
|
| 40 |
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"sim_dt": 0.005,
|
| 41 |
+
"decimation": 4,
|
| 42 |
+
"note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
|
| 43 |
+
},
|
| 44 |
+
"action_layout": {
|
| 45 |
+
"dim": 12,
|
| 46 |
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"nan_policy": "from_raw",
|
| 47 |
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"segments": [
|
| 48 |
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{
|
| 49 |
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"name": "Go2Plus.base_action",
|
| 50 |
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"start": 0,
|
| 51 |
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"end": 4,
|
| 52 |
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"names": [
|
| 53 |
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"base_action_0",
|
| 54 |
+
"base_action_1",
|
| 55 |
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"base_action_2",
|
| 56 |
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"base_action_3"
|
| 57 |
+
],
|
| 58 |
+
"source": "Go2UnifiedLocomotionAction",
|
| 59 |
+
"names_source": "fallback"
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "Go2Plus.arm_action",
|
| 63 |
+
"start": 4,
|
| 64 |
+
"end": 11,
|
| 65 |
+
"names": [
|
| 66 |
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"eef0.pos_x",
|
| 67 |
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"eef0.pos_y",
|
| 68 |
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"eef0.pos_z",
|
| 69 |
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"eef0.quat_w",
|
| 70 |
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"eef0.quat_x",
|
| 71 |
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"eef0.quat_y",
|
| 72 |
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"eef0.quat_z"
|
| 73 |
+
],
|
| 74 |
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"source": "Go2PlusCuroboIKAction",
|
| 75 |
+
"names_source": "pose_layout"
|
| 76 |
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},
|
| 77 |
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{
|
| 78 |
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"name": "Go2Plus.eef_action",
|
| 79 |
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"start": 11,
|
| 80 |
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"end": 12,
|
| 81 |
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"names": [
|
| 82 |
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"gripper"
|
| 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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"name": "Go2Plus.joint_pos",
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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"joint_0",
|
| 98 |
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"joint_1",
|
| 99 |
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"joint_2",
|
| 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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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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],
|
| 122 |
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|
| 123 |
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"names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
|
| 124 |
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},
|
| 125 |
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{
|
| 126 |
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"name": "Go2Plus.gripper_pos",
|
| 127 |
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"start": 24,
|
| 128 |
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"end": 26,
|
| 129 |
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"names": [
|
| 130 |
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"gripper_0",
|
| 131 |
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|
| 132 |
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],
|
| 133 |
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|
| 134 |
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"names_source": "generated"
|
| 135 |
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}
|
| 136 |
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]
|
| 137 |
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},
|
| 138 |
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|
| 139 |
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"dim": 20,
|
| 140 |
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"segments": [
|
| 141 |
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{
|
| 142 |
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"name": "Go2Plus.joint_vel",
|
| 143 |
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"start": 0,
|
| 144 |
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"end": 20,
|
| 145 |
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"names": [
|
| 146 |
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"go2_FL_hip_joint",
|
| 147 |
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"go2_FR_hip_joint",
|
| 148 |
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"go2_RL_hip_joint",
|
| 149 |
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"go2_RR_hip_joint",
|
| 150 |
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"piper_joint1",
|
| 151 |
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"go2_FL_thigh_joint",
|
| 152 |
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"go2_FR_thigh_joint",
|
| 153 |
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|
| 154 |
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"go2_RR_thigh_joint",
|
| 155 |
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"piper_joint2",
|
| 156 |
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"go2_FL_calf_joint",
|
| 157 |
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"go2_FR_calf_joint",
|
| 158 |
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"go2_RL_calf_joint",
|
| 159 |
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"go2_RR_calf_joint",
|
| 160 |
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|
| 161 |
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"piper_joint4",
|
| 162 |
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|
| 163 |
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"piper_joint6",
|
| 164 |
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|
| 165 |
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|
| 166 |
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],
|
| 167 |
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|
| 168 |
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|
| 169 |
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}
|
| 170 |
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]
|
| 171 |
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},
|
| 172 |
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"action_levels": {
|
| 173 |
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"L0": "task command list (collect.auto_collect_info.current_action)",
|
| 174 |
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"L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
|
| 175 |
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"L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
|
| 176 |
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"L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
|
| 177 |
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"L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
|
| 178 |
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},
|
| 179 |
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"cameras": {
|
| 180 |
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"head": {
|
| 181 |
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|
| 182 |
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| 183 |
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|
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|
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| 219 |
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| 220 |
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|
| 256 |
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|
| 257 |
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|
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|
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|
| 263 |
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|
| 264 |
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|
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|
| 266 |
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|
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|
| 268 |
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|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
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| 276 |
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|
| 277 |
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| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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| 282 |
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"task_index",
|
| 283 |
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"timestamp"
|
| 284 |
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]
|
| 285 |
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},
|
| 286 |
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"generated_run": {
|
| 287 |
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"run_id": "stationassembly/000",
|
| 288 |
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"task_type": "StationAssembly"
|
| 289 |
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}
|
| 290 |
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}
|
N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
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N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/meta/tasks.jsonl
ADDED
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@@ -0,0 +1 @@
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|
| 1 |
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{"task_index": 0, "task": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen."}
|
N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.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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oid sha256:ff3a1aa0d7bfe8bf577dcd4989e376fe14c201de944e602da83a88c21bbaf9de
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size 44810900
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N023/go2_arm/dr_off/seed_1103/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.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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oid sha256:cc68dfdcecbddc1c082a0376ce9305d53ca2a14013b9a150117f4425275ac195
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size 111349860
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N023/go2_arm/dr_off/seed_1103/stationassembly/000/run_meta.json
ADDED
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@@ -0,0 +1,886 @@
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|
| 1 |
+
{
|
| 2 |
+
"run_id": "stationassembly/000",
|
| 3 |
+
"created": "2026-11-10 03:50:23",
|
| 4 |
+
"num_envs": 1,
|
| 5 |
+
"session_id": null,
|
| 6 |
+
"record_config": {
|
| 7 |
+
"output_dir": "/mnt/scratch/xc536_atomic/n023_go2_off_1103/out",
|
| 8 |
+
"formats": [
|
| 9 |
+
"lerobot_v21",
|
| 10 |
+
"sim_info"
|
| 11 |
+
],
|
| 12 |
+
"clear_buffer_on_failure": true,
|
| 13 |
+
"lerobot": {
|
| 14 |
+
"subsample_every": 2
|
| 15 |
+
}
|
| 16 |
+
},
|
| 17 |
+
"config": {
|
| 18 |
+
"env_string": "MobilePenCapEnv-V0",
|
| 19 |
+
"env": {
|
| 20 |
+
"sim": {
|
| 21 |
+
"device": "cpu",
|
| 22 |
+
"use_fabric": false,
|
| 23 |
+
"decimation": 4,
|
| 24 |
+
"dt": 0.005,
|
| 25 |
+
"seed": 1103,
|
| 26 |
+
"soft_resets": 2,
|
| 27 |
+
"scene": {
|
| 28 |
+
"num_envs": 1,
|
| 29 |
+
"env_spacing": 14
|
| 30 |
+
},
|
| 31 |
+
"render": {
|
| 32 |
+
"rendering_mode": "performance",
|
| 33 |
+
"enable_reflections": false,
|
| 34 |
+
"enable_global_illumination": false,
|
| 35 |
+
"enable_translucency": false,
|
| 36 |
+
"enable_dl_denoiser": false
|
| 37 |
+
}
|
| 38 |
+
},
|
| 39 |
+
"robot": {
|
| 40 |
+
"Go2Plus": {
|
| 41 |
+
"name": "go2plus",
|
| 42 |
+
"type": "mobilemanip",
|
| 43 |
+
"common": {
|
| 44 |
+
"pos": [
|
| 45 |
+
[
|
| 46 |
+
-3.57163,
|
| 47 |
+
-2.47548,
|
| 48 |
+
0.45
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
-3.57163,
|
| 52 |
+
-2.47548,
|
| 53 |
+
0.45
|
| 54 |
+
]
|
| 55 |
+
],
|
| 56 |
+
"ori": [
|
| 57 |
+
[
|
| 58 |
+
0,
|
| 59 |
+
0,
|
| 60 |
+
51.26561
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
0,
|
| 64 |
+
0,
|
| 65 |
+
51.26561
|
| 66 |
+
]
|
| 67 |
+
],
|
| 68 |
+
"initial_joint_pos": null
|
| 69 |
+
},
|
| 70 |
+
"action": {
|
| 71 |
+
"base_action": "unified",
|
| 72 |
+
"arm_action": "ik_curobo",
|
| 73 |
+
"eef_action": "binary"
|
| 74 |
+
},
|
| 75 |
+
"reset": "default",
|
| 76 |
+
"planner": {
|
| 77 |
+
"dual_mode": true,
|
| 78 |
+
"base_joint_names": [
|
| 79 |
+
"base_x",
|
| 80 |
+
"base_y",
|
| 81 |
+
"base_yaw",
|
| 82 |
+
"base_height"
|
| 83 |
+
],
|
| 84 |
+
"ik": {
|
| 85 |
+
"type": "go2plus",
|
| 86 |
+
"enable": true,
|
| 87 |
+
"ik_num_instances": 1,
|
| 88 |
+
"ik_batch_size": 1,
|
| 89 |
+
"ik_num_seeds": 64,
|
| 90 |
+
"ik_position_threshold": 0.005,
|
| 91 |
+
"ik_rotation_threshold": 0.05,
|
| 92 |
+
"microbatch_wait_ms": 400.0,
|
| 93 |
+
"relative_to_world_frame": false,
|
| 94 |
+
"eef_num": 1,
|
| 95 |
+
"debug": false,
|
| 96 |
+
"seed_use_live_joint_pos": true
|
| 97 |
+
},
|
| 98 |
+
"motiongen": {
|
| 99 |
+
"type": "go2plus",
|
| 100 |
+
"enable": true,
|
| 101 |
+
"batch_size": 1,
|
| 102 |
+
"debug": false,
|
| 103 |
+
"motiongen_num_instances": 1,
|
| 104 |
+
"microbatch_wait_ms": 400.0,
|
| 105 |
+
"mode": "position",
|
| 106 |
+
"relative_to_world_frame": false,
|
| 107 |
+
"eef_num": 1,
|
| 108 |
+
"seed_use_live_joint_pos": true,
|
| 109 |
+
"anchor_ik_seeds_to_current_state": false,
|
| 110 |
+
"num_trajopt_seeds": 1,
|
| 111 |
+
"num_ik_seeds": 4,
|
| 112 |
+
"max_attempts": 6,
|
| 113 |
+
"joint_limit_retry_weight": 100000000.0,
|
| 114 |
+
"start_state_limit_inset": 0.002
|
| 115 |
+
},
|
| 116 |
+
"body": {
|
| 117 |
+
"type": "nav",
|
| 118 |
+
"dwb_type": "dwb_quadruped",
|
| 119 |
+
"dwb_quadruped": {
|
| 120 |
+
"device": "cpu",
|
| 121 |
+
"dt": 0.02,
|
| 122 |
+
"debug": false,
|
| 123 |
+
"num_rollout_steps": 60,
|
| 124 |
+
"num_speed_samples": 11,
|
| 125 |
+
"num_steer_samples": 11,
|
| 126 |
+
"num_vx_samples": 7,
|
| 127 |
+
"num_vy_samples": 7,
|
| 128 |
+
"num_yaw_samples": 7,
|
| 129 |
+
"max_accel": 1.5,
|
| 130 |
+
"max_steer_rate": 1.5,
|
| 131 |
+
"max_accel_vx": 1.5,
|
| 132 |
+
"max_accel_vy": 1.5,
|
| 133 |
+
"max_yaw_accel": 1.5,
|
| 134 |
+
"w_goal": 6.0,
|
| 135 |
+
"w_path": 24.0,
|
| 136 |
+
"w_vel": 0.2,
|
| 137 |
+
"w_vy": 0.0,
|
| 138 |
+
"dilate_radius": 0.2,
|
| 139 |
+
"goal_cost_mode": "path",
|
| 140 |
+
"room_size": 12.0,
|
| 141 |
+
"occupancy_update_interval": 25,
|
| 142 |
+
"scan_height": 0.38,
|
| 143 |
+
"scan_min_z": 0.15,
|
| 144 |
+
"scan_max_z": 0.63,
|
| 145 |
+
"goal_pos_threshold": 0.07,
|
| 146 |
+
"goal_yaw_threshold": 0.08,
|
| 147 |
+
"goal_yaw_hysteresis": 0.02,
|
| 148 |
+
"kp_goal_yaw": 4.0,
|
| 149 |
+
"heading_reference": "path",
|
| 150 |
+
"turn_yaw_threshold": 0.8,
|
| 151 |
+
"heading_lookahead": 0.8,
|
| 152 |
+
"heading_min_leg": 0.35,
|
| 153 |
+
"route_yaw_gain": 2.0,
|
| 154 |
+
"min_vx": -0.35,
|
| 155 |
+
"max_vx": 0.35,
|
| 156 |
+
"min_vy": -0.25,
|
| 157 |
+
"max_vy": 0.25,
|
| 158 |
+
"min_yaw_rate": -0.8,
|
| 159 |
+
"max_yaw_rate": 0.8,
|
| 160 |
+
"dynamic_window_source": "command",
|
| 161 |
+
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| 623 |
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| 626 |
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| 628 |
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| 632 |
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| 633 |
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|
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| 668 |
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| 669 |
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|
| 670 |
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| 671 |
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| 672 |
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| 673 |
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| 674 |
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| 675 |
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| 676 |
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| 679 |
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| 681 |
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],
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|
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| 865 |
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|
| 867 |
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|
| 868 |
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],
|
| 869 |
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|
| 870 |
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|
| 871 |
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|
| 872 |
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| 873 |
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|
| 874 |
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| 875 |
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|
| 876 |
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|
| 877 |
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|
| 878 |
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|
| 879 |
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]
|
| 880 |
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|
| 881 |
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| 882 |
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|
| 883 |
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|
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|
| 885 |
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}
|
| 886 |
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}
|
N023/go2_arm/dr_off/seed_1103/stationassembly/000/sim_info/0/actions.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:51c1d5a363704f598c383d4e0e5db8a2503242d4b6ad7909c30cec166ef32de0
|
| 3 |
+
size 2664915
|
N023/go2_arm/dr_off/seed_1103/stationassembly/000/sim_info/0/device_commands.jsonl
ADDED
|
File without changes
|
N023/go2_arm/dr_off/seed_1103/stationassembly/000/sim_info/0/device_events.jsonl
ADDED
|
File without changes
|
N023/go2_arm/dr_off/seed_1103/stationassembly/000/sim_info/0/scene_snapshot.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
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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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|
|
|
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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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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"generated": {
|
| 4 |
+
"time": "2026-11-10 04:25:47"
|
| 5 |
+
},
|
| 6 |
+
"embodiment": {
|
| 7 |
+
"robots": [
|
| 8 |
+
{
|
| 9 |
+
"name": "Go2Plus",
|
| 10 |
+
"cfg": "Go2PlusCfg",
|
| 11 |
+
"type": "mobilemanip",
|
| 12 |
+
"joint_names": [
|
| 13 |
+
"go2_FL_hip_joint",
|
| 14 |
+
"go2_FR_hip_joint",
|
| 15 |
+
"go2_RL_hip_joint",
|
| 16 |
+
"go2_RR_hip_joint",
|
| 17 |
+
"piper_joint1",
|
| 18 |
+
"go2_FL_thigh_joint",
|
| 19 |
+
"go2_FR_thigh_joint",
|
| 20 |
+
"go2_RL_thigh_joint",
|
| 21 |
+
"go2_RR_thigh_joint",
|
| 22 |
+
"piper_joint2",
|
| 23 |
+
"go2_FL_calf_joint",
|
| 24 |
+
"go2_FR_calf_joint",
|
| 25 |
+
"go2_RL_calf_joint",
|
| 26 |
+
"go2_RR_calf_joint",
|
| 27 |
+
"piper_joint3",
|
| 28 |
+
"piper_joint4",
|
| 29 |
+
"piper_joint5",
|
| 30 |
+
"piper_joint6",
|
| 31 |
+
"piper_joint7",
|
| 32 |
+
"piper_joint8"
|
| 33 |
+
]
|
| 34 |
+
}
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
"timing": {
|
| 38 |
+
"fps": 50.0,
|
| 39 |
+
"fps_int": 50,
|
| 40 |
+
"sim_dt": 0.005,
|
| 41 |
+
"decimation": 4,
|
| 42 |
+
"note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
|
| 43 |
+
},
|
| 44 |
+
"action_layout": {
|
| 45 |
+
"dim": 12,
|
| 46 |
+
"nan_policy": "from_raw",
|
| 47 |
+
"segments": [
|
| 48 |
+
{
|
| 49 |
+
"name": "Go2Plus.base_action",
|
| 50 |
+
"start": 0,
|
| 51 |
+
"end": 4,
|
| 52 |
+
"names": [
|
| 53 |
+
"base_action_0",
|
| 54 |
+
"base_action_1",
|
| 55 |
+
"base_action_2",
|
| 56 |
+
"base_action_3"
|
| 57 |
+
],
|
| 58 |
+
"source": "Go2UnifiedLocomotionAction",
|
| 59 |
+
"names_source": "fallback"
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "Go2Plus.arm_action",
|
| 63 |
+
"start": 4,
|
| 64 |
+
"end": 11,
|
| 65 |
+
"names": [
|
| 66 |
+
"eef0.pos_x",
|
| 67 |
+
"eef0.pos_y",
|
| 68 |
+
"eef0.pos_z",
|
| 69 |
+
"eef0.quat_w",
|
| 70 |
+
"eef0.quat_x",
|
| 71 |
+
"eef0.quat_y",
|
| 72 |
+
"eef0.quat_z"
|
| 73 |
+
],
|
| 74 |
+
"source": "Go2PlusCuroboIKAction",
|
| 75 |
+
"names_source": "pose_layout"
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"name": "Go2Plus.eef_action",
|
| 79 |
+
"start": 11,
|
| 80 |
+
"end": 12,
|
| 81 |
+
"names": [
|
| 82 |
+
"gripper"
|
| 83 |
+
],
|
| 84 |
+
"source": "BinaryJointPositionAction",
|
| 85 |
+
"names_source": "gripper"
|
| 86 |
+
}
|
| 87 |
+
]
|
| 88 |
+
},
|
| 89 |
+
"state_layout": {
|
| 90 |
+
"dim": 26,
|
| 91 |
+
"segments": [
|
| 92 |
+
{
|
| 93 |
+
"name": "Go2Plus.joint_pos",
|
| 94 |
+
"start": 0,
|
| 95 |
+
"end": 24,
|
| 96 |
+
"names": [
|
| 97 |
+
"joint_0",
|
| 98 |
+
"joint_1",
|
| 99 |
+
"joint_2",
|
| 100 |
+
"joint_3",
|
| 101 |
+
"joint_4",
|
| 102 |
+
"joint_5",
|
| 103 |
+
"joint_6",
|
| 104 |
+
"joint_7",
|
| 105 |
+
"joint_8",
|
| 106 |
+
"joint_9",
|
| 107 |
+
"joint_10",
|
| 108 |
+
"joint_11",
|
| 109 |
+
"joint_12",
|
| 110 |
+
"joint_13",
|
| 111 |
+
"joint_14",
|
| 112 |
+
"joint_15",
|
| 113 |
+
"joint_16",
|
| 114 |
+
"joint_17",
|
| 115 |
+
"joint_18",
|
| 116 |
+
"joint_19",
|
| 117 |
+
"joint_20",
|
| 118 |
+
"joint_21",
|
| 119 |
+
"joint_22",
|
| 120 |
+
"joint_23"
|
| 121 |
+
],
|
| 122 |
+
"source": "ObservationManager",
|
| 123 |
+
"names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"name": "Go2Plus.gripper_pos",
|
| 127 |
+
"start": 24,
|
| 128 |
+
"end": 26,
|
| 129 |
+
"names": [
|
| 130 |
+
"gripper_0",
|
| 131 |
+
"gripper_1"
|
| 132 |
+
],
|
| 133 |
+
"source": "ObservationManager",
|
| 134 |
+
"names_source": "generated"
|
| 135 |
+
}
|
| 136 |
+
]
|
| 137 |
+
},
|
| 138 |
+
"joint_vel_layout": {
|
| 139 |
+
"dim": 20,
|
| 140 |
+
"segments": [
|
| 141 |
+
{
|
| 142 |
+
"name": "Go2Plus.joint_vel",
|
| 143 |
+
"start": 0,
|
| 144 |
+
"end": 20,
|
| 145 |
+
"names": [
|
| 146 |
+
"go2_FL_hip_joint",
|
| 147 |
+
"go2_FR_hip_joint",
|
| 148 |
+
"go2_RL_hip_joint",
|
| 149 |
+
"go2_RR_hip_joint",
|
| 150 |
+
"piper_joint1",
|
| 151 |
+
"go2_FL_thigh_joint",
|
| 152 |
+
"go2_FR_thigh_joint",
|
| 153 |
+
"go2_RL_thigh_joint",
|
| 154 |
+
"go2_RR_thigh_joint",
|
| 155 |
+
"piper_joint2",
|
| 156 |
+
"go2_FL_calf_joint",
|
| 157 |
+
"go2_FR_calf_joint",
|
| 158 |
+
"go2_RL_calf_joint",
|
| 159 |
+
"go2_RR_calf_joint",
|
| 160 |
+
"piper_joint3",
|
| 161 |
+
"piper_joint4",
|
| 162 |
+
"piper_joint5",
|
| 163 |
+
"piper_joint6",
|
| 164 |
+
"piper_joint7",
|
| 165 |
+
"piper_joint8"
|
| 166 |
+
],
|
| 167 |
+
"source": "ObservationManager",
|
| 168 |
+
"names_source": "joint_names"
|
| 169 |
+
}
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"action_levels": {
|
| 173 |
+
"L0": "task command list (collect.auto_collect_info.current_action)",
|
| 174 |
+
"L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
|
| 175 |
+
"L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
|
| 176 |
+
"L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
|
| 177 |
+
"L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
|
| 178 |
+
},
|
| 179 |
+
"cameras": {
|
| 180 |
+
"head": {
|
| 181 |
+
"intrinsics": {
|
| 182 |
+
"K": [
|
| 183 |
+
[
|
| 184 |
+
607.7061061683956,
|
| 185 |
+
0.0,
|
| 186 |
+
320.0
|
| 187 |
+
],
|
| 188 |
+
[
|
| 189 |
+
0.0,
|
| 190 |
+
607.3754374751866,
|
| 191 |
+
240.0
|
| 192 |
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],
|
| 193 |
+
[
|
| 194 |
+
0.0,
|
| 195 |
+
0.0,
|
| 196 |
+
1.0
|
| 197 |
+
]
|
| 198 |
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],
|
| 199 |
+
"fov_h_deg": 55.53991912549515,
|
| 200 |
+
"resolution": [
|
| 201 |
+
640,
|
| 202 |
+
480
|
| 203 |
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]
|
| 204 |
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},
|
| 205 |
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"pos": [
|
| 206 |
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0.33205100893974304,
|
| 207 |
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0.038026999682188034,
|
| 208 |
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0.09355899691581726
|
| 209 |
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],
|
| 210 |
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"quat": [
|
| 211 |
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-0.5022302269935608,
|
| 212 |
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-0.499491810798645,
|
| 213 |
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0.5120040774345398,
|
| 214 |
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0.4859265089035034
|
| 215 |
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]
|
| 216 |
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},
|
| 217 |
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"wrist": {
|
| 218 |
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"intrinsics": {
|
| 219 |
+
"K": [
|
| 220 |
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[
|
| 221 |
+
617.2500342478374,
|
| 222 |
+
0.0,
|
| 223 |
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320.0
|
| 224 |
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],
|
| 225 |
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[
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| 226 |
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0.0,
|
| 227 |
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617.548655622722,
|
| 228 |
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240.0
|
| 229 |
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],
|
| 230 |
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[
|
| 231 |
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0.0,
|
| 232 |
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0.0,
|
| 233 |
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1.0
|
| 234 |
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]
|
| 235 |
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],
|
| 236 |
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"fov_h_deg": 54.807019583348044,
|
| 237 |
+
"resolution": [
|
| 238 |
+
640,
|
| 239 |
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480
|
| 240 |
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]
|
| 241 |
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},
|
| 242 |
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"pos": [
|
| 243 |
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-0.0749870017170906,
|
| 244 |
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0.005288999993354082,
|
| 245 |
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0.04582099989056587
|
| 246 |
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],
|
| 247 |
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"quat": [
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| 248 |
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0.1271296590566635,
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0.701795220375061,
|
| 250 |
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-0.6904057860374451,
|
| 251 |
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-0.12108422070741653
|
| 252 |
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]
|
| 253 |
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}
|
| 254 |
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},
|
| 255 |
+
"generated_run": {
|
| 256 |
+
"run_id": "stationassembly/000",
|
| 257 |
+
"task_type": "StationAssembly"
|
| 258 |
+
}
|
| 259 |
+
}
|