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- single_panda_gripper.CoffeeSetupMug/videos/chunk-002/observation.images.right_view/episode_002003.mp4 +3 -0
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"names": [
|
| 160 |
+
"height",
|
| 161 |
+
"width",
|
| 162 |
+
"channel"
|
| 163 |
+
],
|
| 164 |
+
"video_info": {
|
| 165 |
+
"video.fps": 20.0,
|
| 166 |
+
"video.codec": "h264",
|
| 167 |
+
"video.pix_fmt": "yuv420p",
|
| 168 |
+
"video.is_depth_map": false,
|
| 169 |
+
"has_audio": false
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
"observation.images.right_view": {
|
| 173 |
+
"dtype": "video",
|
| 174 |
+
"shape": [
|
| 175 |
+
256,
|
| 176 |
+
256,
|
| 177 |
+
3
|
| 178 |
+
],
|
| 179 |
+
"names": [
|
| 180 |
+
"height",
|
| 181 |
+
"width",
|
| 182 |
+
"channel"
|
| 183 |
+
],
|
| 184 |
+
"video_info": {
|
| 185 |
+
"video.fps": 20.0,
|
| 186 |
+
"video.codec": "h264",
|
| 187 |
+
"video.pix_fmt": "yuv420p",
|
| 188 |
+
"video.is_depth_map": false,
|
| 189 |
+
"has_audio": false
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"observation.images.wrist_view": {
|
| 193 |
+
"dtype": "video",
|
| 194 |
+
"shape": [
|
| 195 |
+
256,
|
| 196 |
+
256,
|
| 197 |
+
3
|
| 198 |
+
],
|
| 199 |
+
"names": [
|
| 200 |
+
"height",
|
| 201 |
+
"width",
|
| 202 |
+
"channel"
|
| 203 |
+
],
|
| 204 |
+
"video_info": {
|
| 205 |
+
"video.fps": 20.0,
|
| 206 |
+
"video.codec": "h264",
|
| 207 |
+
"video.pix_fmt": "yuv420p",
|
| 208 |
+
"video.is_depth_map": false,
|
| 209 |
+
"has_audio": false
|
| 210 |
+
}
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
}
|
single_panda_gripper.OpenDoubleDoor/meta/modality.json
ADDED
|
@@ -0,0 +1,107 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"base_position": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 3
|
| 6 |
+
},
|
| 7 |
+
"base_rotation": {
|
| 8 |
+
"start": 3,
|
| 9 |
+
"end": 7,
|
| 10 |
+
"rotation_type": "quaternion"
|
| 11 |
+
},
|
| 12 |
+
"end_effector_position_absolute": {
|
| 13 |
+
"start": 7,
|
| 14 |
+
"end": 10
|
| 15 |
+
},
|
| 16 |
+
"end_effector_position_relative": {
|
| 17 |
+
"start": 10,
|
| 18 |
+
"end": 13
|
| 19 |
+
},
|
| 20 |
+
"end_effector_rotation_absolute": {
|
| 21 |
+
"start": 13,
|
| 22 |
+
"end": 17,
|
| 23 |
+
"rotation_type": "quaternion"
|
| 24 |
+
},
|
| 25 |
+
"end_effector_rotation_relative": {
|
| 26 |
+
"start": 17,
|
| 27 |
+
"end": 21,
|
| 28 |
+
"rotation_type": "quaternion"
|
| 29 |
+
},
|
| 30 |
+
"gripper_qpos": {
|
| 31 |
+
"start": 21,
|
| 32 |
+
"end": 23
|
| 33 |
+
},
|
| 34 |
+
"gripper_qvel": {
|
| 35 |
+
"start": 23,
|
| 36 |
+
"end": 25
|
| 37 |
+
},
|
| 38 |
+
"joint_position": {
|
| 39 |
+
"start": 25,
|
| 40 |
+
"end": 32
|
| 41 |
+
},
|
| 42 |
+
"joint_position_cos": {
|
| 43 |
+
"start": 32,
|
| 44 |
+
"end": 39
|
| 45 |
+
},
|
| 46 |
+
"joint_position_sin": {
|
| 47 |
+
"start": 39,
|
| 48 |
+
"end": 46
|
| 49 |
+
},
|
| 50 |
+
"joint_velocity": {
|
| 51 |
+
"start": 46,
|
| 52 |
+
"end": 53
|
| 53 |
+
}
|
| 54 |
+
},
|
| 55 |
+
"action": {
|
| 56 |
+
"base_motion": {
|
| 57 |
+
"start": 0,
|
| 58 |
+
"end": 4,
|
| 59 |
+
"absolute": false
|
| 60 |
+
},
|
| 61 |
+
"control_mode": {
|
| 62 |
+
"start": 4,
|
| 63 |
+
"end": 5,
|
| 64 |
+
"dtype": "int64",
|
| 65 |
+
"range": [
|
| 66 |
+
0,
|
| 67 |
+
1
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"end_effector_position": {
|
| 71 |
+
"start": 5,
|
| 72 |
+
"end": 8,
|
| 73 |
+
"absolute": false
|
| 74 |
+
},
|
| 75 |
+
"end_effector_rotation": {
|
| 76 |
+
"start": 8,
|
| 77 |
+
"end": 11,
|
| 78 |
+
"absolute": false,
|
| 79 |
+
"rotation_type": "axis_angle"
|
| 80 |
+
},
|
| 81 |
+
"gripper_close": {
|
| 82 |
+
"start": 11,
|
| 83 |
+
"end": 12,
|
| 84 |
+
"dtype": "int64",
|
| 85 |
+
"range": [
|
| 86 |
+
0,
|
| 87 |
+
1
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"video": {
|
| 92 |
+
"left_view": {
|
| 93 |
+
"original_key": "observation.images.left_view"
|
| 94 |
+
},
|
| 95 |
+
"right_view": {
|
| 96 |
+
"original_key": "observation.images.right_view"
|
| 97 |
+
},
|
| 98 |
+
"wrist_view": {
|
| 99 |
+
"original_key": "observation.images.wrist_view"
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"annotation": {
|
| 103 |
+
"human.action.task_description": {},
|
| 104 |
+
"human.action.task_name": {},
|
| 105 |
+
"human.validity": {}
|
| 106 |
+
}
|
| 107 |
+
}
|
single_panda_gripper.OpenDoubleDoor/meta/stats.json
ADDED
|
@@ -0,0 +1,600 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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