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Browse files- README.md +147 -0
- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +114 -0
- meta/stats.json +564 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.cam0/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam0/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.cam0/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.cam0/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.cam0/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.cam0/chunk-000/file-005.mp4 +3 -0
- videos/observation.images.cam0/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.cam0/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.cam0/chunk-000/file-008.mp4 +3 -0
- videos/observation.images.cam0/chunk-000/file-009.mp4 +3 -0
README.md
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| 1 |
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---
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| 2 |
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=SteveNguyen/sim_grasp_train_v8">
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| 16 |
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<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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| 17 |
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<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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</a>
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## Dataset Description
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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| 27 |
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- **License:** apache-2.0
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| 28 |
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## Dataset Structure
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| 30 |
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[meta/info.json](meta/info.json):
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| 32 |
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```json
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| 33 |
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{
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| 34 |
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"codebase_version": "v3.0",
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"robot_type": "openarm_gripette_sim",
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| 36 |
+
"total_episodes": 190,
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| 37 |
+
"total_frames": 67130,
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| 38 |
+
"total_tasks": 1,
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| 39 |
+
"chunks_size": 1000,
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| 40 |
+
"data_files_size_in_mb": 100,
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| 41 |
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"video_files_size_in_mb": 200,
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| 42 |
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"fps": 50,
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| 43 |
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"splits": {
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| 44 |
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"train": "0:190"
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| 45 |
+
},
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| 46 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 47 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 48 |
+
"features": {
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| 49 |
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"observation.images.cam0": {
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| 50 |
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"dtype": "video",
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| 51 |
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"shape": [
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| 52 |
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3,
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| 53 |
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972,
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| 54 |
+
1296
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| 55 |
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],
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| 56 |
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"names": [
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| 57 |
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"channels",
|
| 58 |
+
"height",
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| 59 |
+
"width"
|
| 60 |
+
],
|
| 61 |
+
"info": {
|
| 62 |
+
"video.height": 972,
|
| 63 |
+
"video.width": 1296,
|
| 64 |
+
"video.codec": "av1",
|
| 65 |
+
"video.pix_fmt": "yuv420p",
|
| 66 |
+
"video.is_depth_map": false,
|
| 67 |
+
"video.fps": 50,
|
| 68 |
+
"video.channels": 3,
|
| 69 |
+
"has_audio": false
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
"action": {
|
| 73 |
+
"dtype": "float32",
|
| 74 |
+
"shape": [
|
| 75 |
+
11
|
| 76 |
+
],
|
| 77 |
+
"names": [
|
| 78 |
+
"dx",
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| 79 |
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"dy",
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| 80 |
+
"dz",
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| 81 |
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"dr6d_0",
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| 82 |
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"dr6d_1",
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| 83 |
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"dr6d_2",
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| 84 |
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"dr6d_3",
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| 85 |
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"dr6d_4",
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| 86 |
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"dr6d_5",
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| 87 |
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"proximal",
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| 88 |
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"distal"
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| 89 |
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]
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| 90 |
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},
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| 91 |
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"timestamp": {
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| 92 |
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"dtype": "float32",
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| 93 |
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"shape": [
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| 94 |
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1
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| 95 |
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],
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| 96 |
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"names": null
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| 97 |
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},
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| 98 |
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"frame_index": {
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| 99 |
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"dtype": "int64",
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| 100 |
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"shape": [
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| 101 |
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1
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| 102 |
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],
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| 103 |
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"names": null
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| 104 |
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},
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| 105 |
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"episode_index": {
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| 106 |
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"dtype": "int64",
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| 107 |
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"shape": [
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| 108 |
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1
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| 109 |
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],
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| 110 |
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"names": null
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| 111 |
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},
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| 112 |
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"index": {
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| 113 |
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"dtype": "int64",
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| 114 |
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"shape": [
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| 115 |
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1
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| 116 |
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],
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| 117 |
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"names": null
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| 118 |
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},
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| 119 |
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"task_index": {
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| 120 |
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"dtype": "int64",
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| 121 |
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"shape": [
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| 122 |
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1
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| 123 |
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],
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| 124 |
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"names": null
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| 125 |
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},
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| 126 |
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"observation.state": {
|
| 127 |
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"dtype": "float32",
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| 128 |
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"shape": [
|
| 129 |
+
2
|
| 130 |
+
],
|
| 131 |
+
"names": [
|
| 132 |
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"proximal",
|
| 133 |
+
"distal"
|
| 134 |
+
]
|
| 135 |
+
}
|
| 136 |
+
}
|
| 137 |
+
}
|
| 138 |
+
```
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| 139 |
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| 140 |
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| 141 |
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## Citation
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| 142 |
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| 143 |
+
**BibTeX:**
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| 144 |
+
|
| 145 |
+
```bibtex
|
| 146 |
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[More Information Needed]
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| 147 |
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```
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data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:ad6d3129fb24f9571f058dde26d167e6c8ff79a14f952c14d5907e5ed1a21045
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| 3 |
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size 5950271
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:f2286cce20260a8a7c9c2885b7e0a1175e619c82f598c23a8def18ecf0251c8d
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| 3 |
+
size 574874
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meta/info.json
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| 1 |
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{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "openarm_gripette_sim",
|
| 4 |
+
"total_episodes": 190,
|
| 5 |
+
"total_frames": 67130,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 50,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:190"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.cam0": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
3,
|
| 21 |
+
972,
|
| 22 |
+
1296
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"channels",
|
| 26 |
+
"height",
|
| 27 |
+
"width"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 972,
|
| 31 |
+
"video.width": 1296,
|
| 32 |
+
"video.codec": "av1",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 50,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"action": {
|
| 41 |
+
"dtype": "float32",
|
| 42 |
+
"shape": [
|
| 43 |
+
11
|
| 44 |
+
],
|
| 45 |
+
"names": [
|
| 46 |
+
"dx",
|
| 47 |
+
"dy",
|
| 48 |
+
"dz",
|
| 49 |
+
"dr6d_0",
|
| 50 |
+
"dr6d_1",
|
| 51 |
+
"dr6d_2",
|
| 52 |
+
"dr6d_3",
|
| 53 |
+
"dr6d_4",
|
| 54 |
+
"dr6d_5",
|
| 55 |
+
"proximal",
|
| 56 |
+
"distal"
|
| 57 |
+
]
|
| 58 |
+
},
|
| 59 |
+
"timestamp": {
|
| 60 |
+
"dtype": "float32",
|
| 61 |
+
"shape": [
|
| 62 |
+
1
|
| 63 |
+
],
|
| 64 |
+
"names": null
|
| 65 |
+
},
|
| 66 |
+
"frame_index": {
|
| 67 |
+
"dtype": "int64",
|
| 68 |
+
"shape": [
|
| 69 |
+
1
|
| 70 |
+
],
|
| 71 |
+
"names": null
|
| 72 |
+
},
|
| 73 |
+
"episode_index": {
|
| 74 |
+
"dtype": "int64",
|
| 75 |
+
"shape": [
|
| 76 |
+
1
|
| 77 |
+
],
|
| 78 |
+
"names": null
|
| 79 |
+
},
|
| 80 |
+
"index": {
|
| 81 |
+
"dtype": "int64",
|
| 82 |
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"shape": [
|
| 83 |
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1
|
| 84 |
+
],
|
| 85 |
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"names": null
|
| 86 |
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},
|
| 87 |
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"task_index": {
|
| 88 |
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"dtype": "int64",
|
| 89 |
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"shape": [
|
| 90 |
+
1
|
| 91 |
+
],
|
| 92 |
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"names": null
|
| 93 |
+
},
|
| 94 |
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"observation.state": {
|
| 95 |
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"dtype": "float32",
|
| 96 |
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"shape": [
|
| 97 |
+
11
|
| 98 |
+
],
|
| 99 |
+
"names": [
|
| 100 |
+
"dx_start",
|
| 101 |
+
"dy_start",
|
| 102 |
+
"dz_start",
|
| 103 |
+
"r6d_rel_0",
|
| 104 |
+
"r6d_rel_1",
|
| 105 |
+
"r6d_rel_2",
|
| 106 |
+
"r6d_rel_3",
|
| 107 |
+
"r6d_rel_4",
|
| 108 |
+
"r6d_rel_5",
|
| 109 |
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"proximal",
|
| 110 |
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"distal"
|
| 111 |
+
]
|
| 112 |
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}
|
| 113 |
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}
|
| 114 |
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}
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meta/stats.json
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