Add 150case_data_enhance_blender_franka_v2/v2_draw_new (9 files)
Browse files- 150case_data_enhance_blender_franka_v2/manifest_v2_draw_new.json +1643 -0
- 150case_data_enhance_blender_franka_v2/v2_draw_new/meta/episodes.jsonl +100 -0
- 150case_data_enhance_blender_franka_v2/v2_draw_new/meta/episodes_stats.jsonl +0 -0
- 150case_data_enhance_blender_franka_v2/v2_draw_new/meta/info.json +203 -0
- 150case_data_enhance_blender_franka_v2/v2_draw_new/meta/source_cases.jsonl +0 -0
- 150case_data_enhance_blender_franka_v2/v2_draw_new/meta/stats.json +494 -0
- 150case_data_enhance_blender_franka_v2/v2_draw_new/meta/tasks.jsonl +1 -0
- 150case_data_enhance_blender_franka_v2/v2_draw_new/official_reader_receipt.json +20 -0
- 150case_data_enhance_blender_franka_v2/v2_draw_new/packaging_receipt.json +14 -0
150case_data_enhance_blender_franka_v2/manifest_v2_draw_new.json
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150case_data_enhance_blender_franka_v2/v2_draw_new/meta/episodes.jsonl
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| 10 |
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| 11 |
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| 13 |
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| 14 |
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| 15 |
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| 18 |
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| 19 |
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| 20 |
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| 22 |
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| 27 |
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| 30 |
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| 63 |
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| 64 |
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| 68 |
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| 71 |
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| 72 |
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| 74 |
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| 75 |
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| 76 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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{"episode_index": 98, "length": 1906, "tasks": ["Put_the_block_in_the_drawer."]}
|
| 100 |
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{"episode_index": 99, "length": 1644, "tasks": ["Put_the_block_in_the_drawer."]}
|
150case_data_enhance_blender_franka_v2/v2_draw_new/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
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|
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|
150case_data_enhance_blender_franka_v2/v2_draw_new/meta/info.json
ADDED
|
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|
| 1 |
+
{
|
| 2 |
+
"action_contract": {
|
| 3 |
+
"gripper": "Robotiq 2F-85 pad opening (m), 0 = close with the force limit",
|
| 4 |
+
"semantics": "absolute_desired_joint_target",
|
| 5 |
+
"unit": "rad; gripper opening m"
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"cam_high": "RealSense D455 on the arch behind the robot (fitted to the user frame)",
|
| 9 |
+
"cam_left_wrist": "RealSense D405, nominal 2F-85 bracket mount (not hardware-calibrated)",
|
| 10 |
+
"cam_right_wrist": "RealSense D405, nominal 2F-85 bracket mount (not hardware-calibrated)"
|
| 11 |
+
},
|
| 12 |
+
"campaign_id": "fr3_duo_v2_20261106",
|
| 13 |
+
"chunks_size": 1000,
|
| 14 |
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"codebase_version": "v2.1",
|
| 15 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 16 |
+
"description": "FR3 Duo v2 (drawer, block dropped from above the rim): the block is released with its bottom 3 cm above the drawer rim and falls in; the block hand keeps 3 cm from the cabinet. S1 cabinet and block, S1-style placement augmentation, refine stage; layout fr3_site_20261105d",
|
| 17 |
+
"features": {
|
| 18 |
+
"action": {
|
| 19 |
+
"dtype": "float32",
|
| 20 |
+
"names": [
|
| 21 |
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[
|
| 22 |
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"left_fr3v2_joint1",
|
| 23 |
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"left_fr3v2_joint2",
|
| 24 |
+
"left_fr3v2_joint3",
|
| 25 |
+
"left_fr3v2_joint4",
|
| 26 |
+
"left_fr3v2_joint5",
|
| 27 |
+
"left_fr3v2_joint6",
|
| 28 |
+
"left_fr3v2_joint7",
|
| 29 |
+
"left_gripper_opening_m",
|
| 30 |
+
"right_fr3v2_joint1",
|
| 31 |
+
"right_fr3v2_joint2",
|
| 32 |
+
"right_fr3v2_joint3",
|
| 33 |
+
"right_fr3v2_joint4",
|
| 34 |
+
"right_fr3v2_joint5",
|
| 35 |
+
"right_fr3v2_joint6",
|
| 36 |
+
"right_fr3v2_joint7",
|
| 37 |
+
"right_gripper_opening_m"
|
| 38 |
+
]
|
| 39 |
+
],
|
| 40 |
+
"shape": [
|
| 41 |
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16
|
| 42 |
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]
|
| 43 |
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},
|
| 44 |
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"episode_index": {
|
| 45 |
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"dtype": "int64",
|
| 46 |
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"names": null,
|
| 47 |
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"shape": [
|
| 48 |
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1
|
| 49 |
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]
|
| 50 |
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},
|
| 51 |
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"frame_index": {
|
| 52 |
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"dtype": "int64",
|
| 53 |
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"names": null,
|
| 54 |
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"shape": [
|
| 55 |
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1
|
| 56 |
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]
|
| 57 |
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},
|
| 58 |
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"index": {
|
| 59 |
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"dtype": "int64",
|
| 60 |
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"names": null,
|
| 61 |
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"shape": [
|
| 62 |
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1
|
| 63 |
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]
|
| 64 |
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},
|
| 65 |
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"observation.images.cam_high": {
|
| 66 |
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"dtype": "video",
|
| 67 |
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"info": {
|
| 68 |
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"has_audio": false,
|
| 69 |
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"video.channels": 3,
|
| 70 |
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"video.codec": "h264",
|
| 71 |
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"video.fps": 30,
|
| 72 |
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"video.height": 224,
|
| 73 |
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"video.is_depth_map": false,
|
| 74 |
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"video.pix_fmt": "yuv420p",
|
| 75 |
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"video.width": 224
|
| 76 |
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},
|
| 77 |
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"names": [
|
| 78 |
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"channels",
|
| 79 |
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"height",
|
| 80 |
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"width"
|
| 81 |
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],
|
| 82 |
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"shape": [
|
| 83 |
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3,
|
| 84 |
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224,
|
| 85 |
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224
|
| 86 |
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]
|
| 87 |
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},
|
| 88 |
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"observation.images.cam_left_wrist": {
|
| 89 |
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"dtype": "video",
|
| 90 |
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"info": {
|
| 91 |
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"has_audio": false,
|
| 92 |
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"video.channels": 3,
|
| 93 |
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"video.codec": "h264",
|
| 94 |
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"video.fps": 30,
|
| 95 |
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"video.height": 224,
|
| 96 |
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"video.is_depth_map": false,
|
| 97 |
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"video.pix_fmt": "yuv420p",
|
| 98 |
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"video.width": 224
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| 99 |
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},
|
| 100 |
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"names": [
|
| 101 |
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| 102 |
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| 103 |
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150case_data_enhance_blender_franka_v2/v2_draw_new/meta/source_cases.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
150case_data_enhance_blender_franka_v2/v2_draw_new/meta/stats.json
ADDED
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@@ -0,0 +1,494 @@
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150case_data_enhance_blender_franka_v2/v2_draw_new/meta/tasks.jsonl
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{"task": "Put_the_block_in_the_drawer.", "task_index": 0}
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150case_data_enhance_blender_franka_v2/v2_draw_new/official_reader_receipt.json
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150case_data_enhance_blender_franka_v2/v2_draw_new/packaging_receipt.json
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| 7 |
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"render": "/pfs/yichen/rssr_data_enhance+causal_map/result/franka_fr3_duo_v2_20261106_attempt_01/render/drawer_new",
|
| 8 |
+
"schema": "rssr.fr3_duo.local_lerobot_package.v1",
|
| 9 |
+
"selection": "/pfs/yichen/rssr_data_enhance+causal_map/result/franka_fr3_duo_v2_20261106_attempt_01/refine/drawer_new/selection.json",
|
| 10 |
+
"selection_sha256": "57d941e38ecf189cd4fa114f447b61b89e7b6dc5f70bd7fcddd546aebe08ca15",
|
| 11 |
+
"uploaded_to_hf": false,
|
| 12 |
+
"verification_sha256": "956d81f7226c32113a1f27ff28ad9ee27adc3245e8174a39f89ea8eece79b809",
|
| 13 |
+
"videos": 300
|
| 14 |
+
}
|