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Browse files- season_POC22061_2026_06_11_14_29_08_train/lerobot3.0/meta/info.json +490 -0
- season_POC22061_2026_06_11_14_29_08_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22061_2026_06_11_14_29_08_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22061_2026_06_11_14_29_08_train/lerobotv2.1/meta/episodes.jsonl +8 -0
- season_POC22061_2026_06_11_14_29_08_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22061_2026_06_11_14_29_08_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22061_2026_06_11_14_29_08_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22061_2026_06_11_14_29_08_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22061_2026_06_11_19_10_57_train/lerobot3.0/meta/info.json +490 -0
- season_POC22061_2026_06_11_19_10_57_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22061_2026_06_11_19_10_57_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22061_2026_06_11_19_10_57_train/lerobotv2.1/meta/episodes.jsonl +8 -0
- season_POC22061_2026_06_11_19_10_57_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22061_2026_06_11_19_10_57_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22061_2026_06_11_19_10_57_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22061_2026_06_11_19_10_57_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22061_2026_06_11_20_21_30_train/lerobot3.0/meta/info.json +490 -0
- season_POC22061_2026_06_11_20_21_30_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22061_2026_06_11_20_21_30_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22061_2026_06_11_20_21_30_train/lerobotv2.1/meta/episodes.jsonl +15 -0
- season_POC22061_2026_06_11_20_21_30_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22061_2026_06_11_20_21_30_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22061_2026_06_11_20_21_30_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22061_2026_06_11_20_21_30_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22061_2026_06_15_10_15_11_train/lerobot3.0/meta/info.json +490 -0
- season_POC22061_2026_06_15_10_15_11_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22061_2026_06_15_10_15_11_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22061_2026_06_15_10_15_11_train/lerobotv2.1/meta/episodes.jsonl +12 -0
- season_POC22061_2026_06_15_10_15_11_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22061_2026_06_15_10_15_11_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22061_2026_06_15_10_15_11_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22061_2026_06_15_10_15_11_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22061_2026_06_15_15_56_02_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22061_2026_06_15_15_56_02_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22061_2026_06_15_19_24_12_train/lerobot3.0/meta/info.json +490 -0
- season_POC22061_2026_06_15_19_24_12_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22061_2026_06_15_19_24_12_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22061_2026_06_15_19_24_12_train/lerobotv2.1/meta/episodes.jsonl +21 -0
- season_POC22061_2026_06_15_19_24_12_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22061_2026_06_15_19_24_12_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22061_2026_06_15_19_24_12_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22061_2026_06_15_19_24_12_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22061_2026_06_16_10_36_10_train/lerobot3.0/meta/info.json +490 -0
- season_POC22061_2026_06_16_10_36_10_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22061_2026_06_16_10_36_10_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22061_2026_06_16_10_36_10_train/lerobotv2.1/meta/episodes.jsonl +9 -0
- season_POC22061_2026_06_16_10_36_10_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22061_2026_06_16_10_36_10_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22061_2026_06_16_10_36_10_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22061_2026_06_16_10_36_10_train/lerobotv2.1/meta/tasks.jsonl +1 -0
season_POC22061_2026_06_11_14_29_08_train/lerobot3.0/meta/info.json
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 8,
|
| 5 |
+
"total_frames": 52862,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:8"
|
| 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.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
+
"right_hand_j6",
|
| 66 |
+
"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
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|
season_POC22061_2026_06_11_14_29_08_train/lerobot3.0/meta/modality.json
ADDED
|
@@ -0,0 +1,41 @@
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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 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
},
|
| 12 |
+
"head_right": {
|
| 13 |
+
"original_key": "observation.images.head_right"
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"state": {
|
| 17 |
+
"joints": {
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 65,
|
| 20 |
+
"rotation_type": null,
|
| 21 |
+
"absolute": true,
|
| 22 |
+
"dtype": "float32",
|
| 23 |
+
"original_key": "observation.state"
|
| 24 |
+
}
|
| 25 |
+
},
|
| 26 |
+
"action": {
|
| 27 |
+
"joints": {
|
| 28 |
+
"start": 0,
|
| 29 |
+
"end": 65,
|
| 30 |
+
"rotation_type": null,
|
| 31 |
+
"absolute": true,
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"original_key": "action"
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"annotation": {
|
| 37 |
+
"human.action.task_description": {
|
| 38 |
+
"original_key": "task_index"
|
| 39 |
+
}
|
| 40 |
+
}
|
| 41 |
+
}
|
season_POC22061_2026_06_11_14_29_08_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_11_14_29_08_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 8144}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 5205}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 5420}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 5599}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 6035}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 7389}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 8781}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 6289}
|
season_POC22061_2026_06_11_14_29_08_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_11_14_29_08_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 8,
|
| 5 |
+
"total_frames": 52862,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 48,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:8"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
+
"right_hand_j6",
|
| 66 |
+
"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
"right_hand_j14",
|
| 74 |
+
"right_hand_j15",
|
| 75 |
+
"right_hand_j16",
|
| 76 |
+
"right_hand_j17",
|
| 77 |
+
"right_hand_j18",
|
| 78 |
+
"right_hand_j19",
|
| 79 |
+
"right_hand_j20",
|
| 80 |
+
"right_hand_j21",
|
| 81 |
+
"motor_j0",
|
| 82 |
+
"motor_j1",
|
| 83 |
+
"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
+
"motor_j6"
|
| 88 |
+
]
|
| 89 |
+
},
|
| 90 |
+
"observation.state.joint_torque": {
|
| 91 |
+
"dtype": "float32",
|
| 92 |
+
"shape": [
|
| 93 |
+
65
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"left_arm_j0",
|
| 97 |
+
"left_arm_j1",
|
| 98 |
+
"left_arm_j2",
|
| 99 |
+
"left_arm_j3",
|
| 100 |
+
"left_arm_j4",
|
| 101 |
+
"left_arm_j5",
|
| 102 |
+
"left_arm_j6",
|
| 103 |
+
"left_hand_j0",
|
| 104 |
+
"left_hand_j1",
|
| 105 |
+
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| 114 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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| 129 |
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| 130 |
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|
| 131 |
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|
| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 138 |
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| 139 |
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|
| 140 |
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| 141 |
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| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 171 |
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|
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|
| 489 |
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|
| 490 |
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}
|
season_POC22061_2026_06_11_14_29_08_train/lerobotv2.1/meta/modality.json
ADDED
|
@@ -0,0 +1,38 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"video": {
|
| 3 |
+
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|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
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|
| 7 |
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|
| 8 |
+
},
|
| 9 |
+
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|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
}
|
| 12 |
+
},
|
| 13 |
+
"state": {
|
| 14 |
+
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
+
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|
| 21 |
+
}
|
| 22 |
+
},
|
| 23 |
+
"action": {
|
| 24 |
+
"joints": {
|
| 25 |
+
"start": 0,
|
| 26 |
+
"end": 65,
|
| 27 |
+
"rotation_type": null,
|
| 28 |
+
"absolute": true,
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"original_key": "action"
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"annotation": {
|
| 34 |
+
"human.action.task_description": {
|
| 35 |
+
"original_key": "task_index"
|
| 36 |
+
}
|
| 37 |
+
}
|
| 38 |
+
}
|
season_POC22061_2026_06_11_14_29_08_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22061_2026_06_11_19_10_57_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
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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 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 8,
|
| 5 |
+
"total_frames": 54100,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:8"
|
| 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.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
+
"right_hand_j6",
|
| 66 |
+
"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
"right_hand_j14",
|
| 74 |
+
"right_hand_j15",
|
| 75 |
+
"right_hand_j16",
|
| 76 |
+
"right_hand_j17",
|
| 77 |
+
"right_hand_j18",
|
| 78 |
+
"right_hand_j19",
|
| 79 |
+
"right_hand_j20",
|
| 80 |
+
"right_hand_j21",
|
| 81 |
+
"motor_j0",
|
| 82 |
+
"motor_j1",
|
| 83 |
+
"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
+
"motor_j6"
|
| 88 |
+
]
|
| 89 |
+
},
|
| 90 |
+
"observation.state.joint_torque": {
|
| 91 |
+
"dtype": "float32",
|
| 92 |
+
"shape": [
|
| 93 |
+
65
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"left_arm_j0",
|
| 97 |
+
"left_arm_j1",
|
| 98 |
+
"left_arm_j2",
|
| 99 |
+
"left_arm_j3",
|
| 100 |
+
"left_arm_j4",
|
| 101 |
+
"left_arm_j5",
|
| 102 |
+
"left_arm_j6",
|
| 103 |
+
"left_hand_j0",
|
| 104 |
+
"left_hand_j1",
|
| 105 |
+
"left_hand_j2",
|
| 106 |
+
"left_hand_j3",
|
| 107 |
+
"left_hand_j4",
|
| 108 |
+
"left_hand_j5",
|
| 109 |
+
"left_hand_j6",
|
| 110 |
+
"left_hand_j7",
|
| 111 |
+
"left_hand_j8",
|
| 112 |
+
"left_hand_j9",
|
| 113 |
+
"left_hand_j10",
|
| 114 |
+
"left_hand_j11",
|
| 115 |
+
"left_hand_j12",
|
| 116 |
+
"left_hand_j13",
|
| 117 |
+
"left_hand_j14",
|
| 118 |
+
"left_hand_j15",
|
| 119 |
+
"left_hand_j16",
|
| 120 |
+
"left_hand_j17",
|
| 121 |
+
"left_hand_j18",
|
| 122 |
+
"left_hand_j19",
|
| 123 |
+
"left_hand_j20",
|
| 124 |
+
"left_hand_j21",
|
| 125 |
+
"right_arm_j0",
|
| 126 |
+
"right_arm_j1",
|
| 127 |
+
"right_arm_j2",
|
| 128 |
+
"right_arm_j3",
|
| 129 |
+
"right_arm_j4",
|
| 130 |
+
"right_arm_j5",
|
| 131 |
+
"right_arm_j6",
|
| 132 |
+
"right_hand_j0",
|
| 133 |
+
"right_hand_j1",
|
| 134 |
+
"right_hand_j2",
|
| 135 |
+
"right_hand_j3",
|
| 136 |
+
"right_hand_j4",
|
| 137 |
+
"right_hand_j5",
|
| 138 |
+
"right_hand_j6",
|
| 139 |
+
"right_hand_j7",
|
| 140 |
+
"right_hand_j8",
|
| 141 |
+
"right_hand_j9",
|
| 142 |
+
"right_hand_j10",
|
| 143 |
+
"right_hand_j11",
|
| 144 |
+
"right_hand_j12",
|
| 145 |
+
"right_hand_j13",
|
| 146 |
+
"right_hand_j14",
|
| 147 |
+
"right_hand_j15",
|
| 148 |
+
"right_hand_j16",
|
| 149 |
+
"right_hand_j17",
|
| 150 |
+
"right_hand_j18",
|
| 151 |
+
"right_hand_j19",
|
| 152 |
+
"right_hand_j20",
|
| 153 |
+
"right_hand_j21",
|
| 154 |
+
"motor_j0",
|
| 155 |
+
"motor_j1",
|
| 156 |
+
"motor_j2",
|
| 157 |
+
"motor_j3",
|
| 158 |
+
"motor_j4",
|
| 159 |
+
"motor_j5",
|
| 160 |
+
"motor_j6"
|
| 161 |
+
]
|
| 162 |
+
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| 163 |
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|
| 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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|
| 173 |
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|
| 174 |
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| 175 |
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| 176 |
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| 177 |
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|
| 180 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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"right_hand_j21",
|
| 239 |
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| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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| 245 |
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|
| 246 |
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| 258 |
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| 259 |
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| 301 |
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| 323 |
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| 324 |
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| 347 |
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| 348 |
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| 349 |
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|
| 350 |
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| 351 |
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| 352 |
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| 353 |
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| 354 |
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| 355 |
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| 356 |
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| 357 |
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| 358 |
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| 359 |
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| 360 |
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| 361 |
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| 362 |
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| 363 |
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| 365 |
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| 366 |
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| 367 |
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| 368 |
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| 369 |
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| 370 |
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| 371 |
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| 372 |
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|
| 373 |
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| 374 |
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|
| 375 |
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| 376 |
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|
| 377 |
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| 378 |
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|
| 379 |
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| 380 |
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|
| 381 |
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|
| 382 |
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|
| 383 |
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|
| 384 |
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"right_index_fz",
|
| 385 |
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"right_index_tx",
|
| 386 |
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"right_index_ty",
|
| 387 |
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"right_index_tz",
|
| 388 |
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"right_middle_fx",
|
| 389 |
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"right_middle_fy",
|
| 390 |
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"right_middle_fz",
|
| 391 |
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"right_middle_tx",
|
| 392 |
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"right_middle_ty",
|
| 393 |
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"right_middle_tz",
|
| 394 |
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"right_ring_fx",
|
| 395 |
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|
| 396 |
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|
| 397 |
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"right_ring_tx",
|
| 398 |
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"right_ring_ty",
|
| 399 |
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"right_ring_tz",
|
| 400 |
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|
| 401 |
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"right_little_fy",
|
| 402 |
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"right_little_fz",
|
| 403 |
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|
| 404 |
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"right_little_ty",
|
| 405 |
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|
| 406 |
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|
| 407 |
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| 408 |
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| 417 |
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| 418 |
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|
| 419 |
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| 420 |
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| 421 |
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| 428 |
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|
| 430 |
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|
| 432 |
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| 438 |
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|
| 439 |
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|
| 440 |
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"width",
|
| 441 |
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"channels"
|
| 442 |
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],
|
| 443 |
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|
| 444 |
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|
| 445 |
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|
| 446 |
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|
| 447 |
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|
| 448 |
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|
| 449 |
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|
| 450 |
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|
| 451 |
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|
| 452 |
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}
|
| 453 |
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},
|
| 454 |
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"timestamp": {
|
| 455 |
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|
| 456 |
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|
| 457 |
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|
| 458 |
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],
|
| 459 |
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|
| 460 |
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},
|
| 461 |
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"frame_index": {
|
| 462 |
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"dtype": "int64",
|
| 463 |
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|
| 464 |
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1
|
| 465 |
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],
|
| 466 |
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|
| 467 |
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},
|
| 468 |
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|
| 469 |
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"dtype": "int64",
|
| 470 |
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|
| 471 |
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1
|
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],
|
| 473 |
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|
| 474 |
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},
|
| 475 |
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"index": {
|
| 476 |
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"dtype": "int64",
|
| 477 |
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|
| 478 |
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1
|
| 479 |
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],
|
| 480 |
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|
| 481 |
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|
| 482 |
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|
| 483 |
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"dtype": "int64",
|
| 484 |
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|
| 485 |
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|
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|
| 487 |
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|
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|
| 489 |
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}
|
| 490 |
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}
|
season_POC22061_2026_06_11_19_10_57_train/lerobot3.0/meta/modality.json
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
},
|
| 12 |
+
"head_right": {
|
| 13 |
+
"original_key": "observation.images.head_right"
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"state": {
|
| 17 |
+
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|
| 18 |
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"start": 0,
|
| 19 |
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|
| 20 |
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|
| 21 |
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"absolute": true,
|
| 22 |
+
"dtype": "float32",
|
| 23 |
+
"original_key": "observation.state"
|
| 24 |
+
}
|
| 25 |
+
},
|
| 26 |
+
"action": {
|
| 27 |
+
"joints": {
|
| 28 |
+
"start": 0,
|
| 29 |
+
"end": 65,
|
| 30 |
+
"rotation_type": null,
|
| 31 |
+
"absolute": true,
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"original_key": "action"
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"annotation": {
|
| 37 |
+
"human.action.task_description": {
|
| 38 |
+
"original_key": "task_index"
|
| 39 |
+
}
|
| 40 |
+
}
|
| 41 |
+
}
|
season_POC22061_2026_06_11_19_10_57_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_11_19_10_57_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 6611}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 8211}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 6861}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 5856}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 6193}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 4860}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 5150}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 10358}
|
season_POC22061_2026_06_11_19_10_57_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_11_19_10_57_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 8,
|
| 5 |
+
"total_frames": 54100,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 48,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:8"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
+
"right_hand_j6",
|
| 66 |
+
"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
"right_hand_j14",
|
| 74 |
+
"right_hand_j15",
|
| 75 |
+
"right_hand_j16",
|
| 76 |
+
"right_hand_j17",
|
| 77 |
+
"right_hand_j18",
|
| 78 |
+
"right_hand_j19",
|
| 79 |
+
"right_hand_j20",
|
| 80 |
+
"right_hand_j21",
|
| 81 |
+
"motor_j0",
|
| 82 |
+
"motor_j1",
|
| 83 |
+
"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
+
"motor_j6"
|
| 88 |
+
]
|
| 89 |
+
},
|
| 90 |
+
"observation.state.joint_torque": {
|
| 91 |
+
"dtype": "float32",
|
| 92 |
+
"shape": [
|
| 93 |
+
65
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"left_arm_j0",
|
| 97 |
+
"left_arm_j1",
|
| 98 |
+
"left_arm_j2",
|
| 99 |
+
"left_arm_j3",
|
| 100 |
+
"left_arm_j4",
|
| 101 |
+
"left_arm_j5",
|
| 102 |
+
"left_arm_j6",
|
| 103 |
+
"left_hand_j0",
|
| 104 |
+
"left_hand_j1",
|
| 105 |
+
"left_hand_j2",
|
| 106 |
+
"left_hand_j3",
|
| 107 |
+
"left_hand_j4",
|
| 108 |
+
"left_hand_j5",
|
| 109 |
+
"left_hand_j6",
|
| 110 |
+
"left_hand_j7",
|
| 111 |
+
"left_hand_j8",
|
| 112 |
+
"left_hand_j9",
|
| 113 |
+
"left_hand_j10",
|
| 114 |
+
"left_hand_j11",
|
| 115 |
+
"left_hand_j12",
|
| 116 |
+
"left_hand_j13",
|
| 117 |
+
"left_hand_j14",
|
| 118 |
+
"left_hand_j15",
|
| 119 |
+
"left_hand_j16",
|
| 120 |
+
"left_hand_j17",
|
| 121 |
+
"left_hand_j18",
|
| 122 |
+
"left_hand_j19",
|
| 123 |
+
"left_hand_j20",
|
| 124 |
+
"left_hand_j21",
|
| 125 |
+
"right_arm_j0",
|
| 126 |
+
"right_arm_j1",
|
| 127 |
+
"right_arm_j2",
|
| 128 |
+
"right_arm_j3",
|
| 129 |
+
"right_arm_j4",
|
| 130 |
+
"right_arm_j5",
|
| 131 |
+
"right_arm_j6",
|
| 132 |
+
"right_hand_j0",
|
| 133 |
+
"right_hand_j1",
|
| 134 |
+
"right_hand_j2",
|
| 135 |
+
"right_hand_j3",
|
| 136 |
+
"right_hand_j4",
|
| 137 |
+
"right_hand_j5",
|
| 138 |
+
"right_hand_j6",
|
| 139 |
+
"right_hand_j7",
|
| 140 |
+
"right_hand_j8",
|
| 141 |
+
"right_hand_j9",
|
| 142 |
+
"right_hand_j10",
|
| 143 |
+
"right_hand_j11",
|
| 144 |
+
"right_hand_j12",
|
| 145 |
+
"right_hand_j13",
|
| 146 |
+
"right_hand_j14",
|
| 147 |
+
"right_hand_j15",
|
| 148 |
+
"right_hand_j16",
|
| 149 |
+
"right_hand_j17",
|
| 150 |
+
"right_hand_j18",
|
| 151 |
+
"right_hand_j19",
|
| 152 |
+
"right_hand_j20",
|
| 153 |
+
"right_hand_j21",
|
| 154 |
+
"motor_j0",
|
| 155 |
+
"motor_j1",
|
| 156 |
+
"motor_j2",
|
| 157 |
+
"motor_j3",
|
| 158 |
+
"motor_j4",
|
| 159 |
+
"motor_j5",
|
| 160 |
+
"motor_j6"
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"observation.state.tcp": {
|
| 164 |
+
"dtype": "float32",
|
| 165 |
+
"shape": [
|
| 166 |
+
24
|
| 167 |
+
],
|
| 168 |
+
"names": [
|
| 169 |
+
"left_arm_tcp_pose",
|
| 170 |
+
"left_arm_tcp_forces",
|
| 171 |
+
"right_arm_tcp_pose",
|
| 172 |
+
"right_arm_tcp_forces"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"action": {
|
| 176 |
+
"dtype": "float32",
|
| 177 |
+
"shape": [
|
| 178 |
+
65
|
| 179 |
+
],
|
| 180 |
+
"names": [
|
| 181 |
+
"left_arm_j0",
|
| 182 |
+
"left_arm_j1",
|
| 183 |
+
"left_arm_j2",
|
| 184 |
+
"left_arm_j3",
|
| 185 |
+
"left_arm_j4",
|
| 186 |
+
"left_arm_j5",
|
| 187 |
+
"left_arm_j6",
|
| 188 |
+
"left_hand_j0",
|
| 189 |
+
"left_hand_j1",
|
| 190 |
+
"left_hand_j2",
|
| 191 |
+
"left_hand_j3",
|
| 192 |
+
"left_hand_j4",
|
| 193 |
+
"left_hand_j5",
|
| 194 |
+
"left_hand_j6",
|
| 195 |
+
"left_hand_j7",
|
| 196 |
+
"left_hand_j8",
|
| 197 |
+
"left_hand_j9",
|
| 198 |
+
"left_hand_j10",
|
| 199 |
+
"left_hand_j11",
|
| 200 |
+
"left_hand_j12",
|
| 201 |
+
"left_hand_j13",
|
| 202 |
+
"left_hand_j14",
|
| 203 |
+
"left_hand_j15",
|
| 204 |
+
"left_hand_j16",
|
| 205 |
+
"left_hand_j17",
|
| 206 |
+
"left_hand_j18",
|
| 207 |
+
"left_hand_j19",
|
| 208 |
+
"left_hand_j20",
|
| 209 |
+
"left_hand_j21",
|
| 210 |
+
"right_arm_j0",
|
| 211 |
+
"right_arm_j1",
|
| 212 |
+
"right_arm_j2",
|
| 213 |
+
"right_arm_j3",
|
| 214 |
+
"right_arm_j4",
|
| 215 |
+
"right_arm_j5",
|
| 216 |
+
"right_arm_j6",
|
| 217 |
+
"right_hand_j0",
|
| 218 |
+
"right_hand_j1",
|
| 219 |
+
"right_hand_j2",
|
| 220 |
+
"right_hand_j3",
|
| 221 |
+
"right_hand_j4",
|
| 222 |
+
"right_hand_j5",
|
| 223 |
+
"right_hand_j6",
|
| 224 |
+
"right_hand_j7",
|
| 225 |
+
"right_hand_j8",
|
| 226 |
+
"right_hand_j9",
|
| 227 |
+
"right_hand_j10",
|
| 228 |
+
"right_hand_j11",
|
| 229 |
+
"right_hand_j12",
|
| 230 |
+
"right_hand_j13",
|
| 231 |
+
"right_hand_j14",
|
| 232 |
+
"right_hand_j15",
|
| 233 |
+
"right_hand_j16",
|
| 234 |
+
"right_hand_j17",
|
| 235 |
+
"right_hand_j18",
|
| 236 |
+
"right_hand_j19",
|
| 237 |
+
"right_hand_j20",
|
| 238 |
+
"right_hand_j21",
|
| 239 |
+
"motor_j0",
|
| 240 |
+
"motor_j1",
|
| 241 |
+
"motor_j2",
|
| 242 |
+
"motor_j3",
|
| 243 |
+
"motor_j4",
|
| 244 |
+
"motor_j5",
|
| 245 |
+
"motor_j6"
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
+
"observation.images.head_left": {
|
| 249 |
+
"dtype": "video",
|
| 250 |
+
"shape": [
|
| 251 |
+
480,
|
| 252 |
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480,
|
| 253 |
+
3
|
| 254 |
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],
|
| 255 |
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"names": [
|
| 256 |
+
"height",
|
| 257 |
+
"width",
|
| 258 |
+
"channels"
|
| 259 |
+
],
|
| 260 |
+
"info": {
|
| 261 |
+
"video.height": 480,
|
| 262 |
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"video.width": 480,
|
| 263 |
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"video.codec": "h264",
|
| 264 |
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|
| 265 |
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"video.is_depth_map": false,
|
| 266 |
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|
| 267 |
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"video.channels": 3,
|
| 268 |
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|
| 269 |
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|
| 270 |
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},
|
| 271 |
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"observation.images.wrist_left": {
|
| 272 |
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"dtype": "video",
|
| 273 |
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"shape": [
|
| 274 |
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|
| 275 |
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480,
|
| 276 |
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|
| 277 |
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|
| 278 |
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"names": [
|
| 279 |
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"height",
|
| 280 |
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"width",
|
| 281 |
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"channels"
|
| 282 |
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],
|
| 283 |
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|
| 284 |
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"video.height": 480,
|
| 285 |
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|
| 286 |
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|
| 287 |
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"video.pix_fmt": "yuv420p",
|
| 288 |
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"video.is_depth_map": false,
|
| 289 |
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"video.fps": 30,
|
| 290 |
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"video.channels": 3,
|
| 291 |
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"has_audio": false
|
| 292 |
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}
|
| 293 |
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},
|
| 294 |
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"observation.images.wrist_right": {
|
| 295 |
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"dtype": "video",
|
| 296 |
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"shape": [
|
| 297 |
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480,
|
| 298 |
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480,
|
| 299 |
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3
|
| 300 |
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],
|
| 301 |
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"names": [
|
| 302 |
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"height",
|
| 303 |
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"width",
|
| 304 |
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"channels"
|
| 305 |
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],
|
| 306 |
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"info": {
|
| 307 |
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"video.height": 480,
|
| 308 |
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"video.width": 480,
|
| 309 |
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"video.codec": "h264",
|
| 310 |
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"video.pix_fmt": "yuv420p",
|
| 311 |
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|
| 312 |
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|
| 313 |
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"video.channels": 3,
|
| 314 |
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"has_audio": false
|
| 315 |
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}
|
| 316 |
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},
|
| 317 |
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"observation.images.head_right": {
|
| 318 |
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"dtype": "video",
|
| 319 |
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"shape": [
|
| 320 |
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480,
|
| 321 |
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480,
|
| 322 |
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3
|
| 323 |
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],
|
| 324 |
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"names": [
|
| 325 |
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"height",
|
| 326 |
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"width",
|
| 327 |
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"channels"
|
| 328 |
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],
|
| 329 |
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|
| 330 |
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"video.height": 480,
|
| 331 |
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|
| 332 |
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"video.codec": "h264",
|
| 333 |
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"video.pix_fmt": "yuv420p",
|
| 334 |
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|
| 335 |
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|
| 336 |
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"video.channels": 3,
|
| 337 |
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"has_audio": false
|
| 338 |
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}
|
| 339 |
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},
|
| 340 |
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"observation.tactile": {
|
| 341 |
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"dtype": "float32",
|
| 342 |
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"shape": [
|
| 343 |
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60
|
| 344 |
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],
|
| 345 |
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"names": [
|
| 346 |
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"left_thumb_fx",
|
| 347 |
+
"left_thumb_fy",
|
| 348 |
+
"left_thumb_fz",
|
| 349 |
+
"left_thumb_tx",
|
| 350 |
+
"left_thumb_ty",
|
| 351 |
+
"left_thumb_tz",
|
| 352 |
+
"left_index_fx",
|
| 353 |
+
"left_index_fy",
|
| 354 |
+
"left_index_fz",
|
| 355 |
+
"left_index_tx",
|
| 356 |
+
"left_index_ty",
|
| 357 |
+
"left_index_tz",
|
| 358 |
+
"left_middle_fx",
|
| 359 |
+
"left_middle_fy",
|
| 360 |
+
"left_middle_fz",
|
| 361 |
+
"left_middle_tx",
|
| 362 |
+
"left_middle_ty",
|
| 363 |
+
"left_middle_tz",
|
| 364 |
+
"left_ring_fx",
|
| 365 |
+
"left_ring_fy",
|
| 366 |
+
"left_ring_fz",
|
| 367 |
+
"left_ring_tx",
|
| 368 |
+
"left_ring_ty",
|
| 369 |
+
"left_ring_tz",
|
| 370 |
+
"left_little_fx",
|
| 371 |
+
"left_little_fy",
|
| 372 |
+
"left_little_fz",
|
| 373 |
+
"left_little_tx",
|
| 374 |
+
"left_little_ty",
|
| 375 |
+
"left_little_tz",
|
| 376 |
+
"right_thumb_fx",
|
| 377 |
+
"right_thumb_fy",
|
| 378 |
+
"right_thumb_fz",
|
| 379 |
+
"right_thumb_tx",
|
| 380 |
+
"right_thumb_ty",
|
| 381 |
+
"right_thumb_tz",
|
| 382 |
+
"right_index_fx",
|
| 383 |
+
"right_index_fy",
|
| 384 |
+
"right_index_fz",
|
| 385 |
+
"right_index_tx",
|
| 386 |
+
"right_index_ty",
|
| 387 |
+
"right_index_tz",
|
| 388 |
+
"right_middle_fx",
|
| 389 |
+
"right_middle_fy",
|
| 390 |
+
"right_middle_fz",
|
| 391 |
+
"right_middle_tx",
|
| 392 |
+
"right_middle_ty",
|
| 393 |
+
"right_middle_tz",
|
| 394 |
+
"right_ring_fx",
|
| 395 |
+
"right_ring_fy",
|
| 396 |
+
"right_ring_fz",
|
| 397 |
+
"right_ring_tx",
|
| 398 |
+
"right_ring_ty",
|
| 399 |
+
"right_ring_tz",
|
| 400 |
+
"right_little_fx",
|
| 401 |
+
"right_little_fy",
|
| 402 |
+
"right_little_fz",
|
| 403 |
+
"right_little_tx",
|
| 404 |
+
"right_little_ty",
|
| 405 |
+
"right_little_tz"
|
| 406 |
+
]
|
| 407 |
+
},
|
| 408 |
+
"observation.images.tactile_deform": {
|
| 409 |
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"dtype": "video",
|
| 410 |
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"shape": [
|
| 411 |
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480,
|
| 412 |
+
1200,
|
| 413 |
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3
|
| 414 |
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],
|
| 415 |
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"names": [
|
| 416 |
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"height",
|
| 417 |
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"width",
|
| 418 |
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"channels"
|
| 419 |
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],
|
| 420 |
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"info": {
|
| 421 |
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"video.height": 480,
|
| 422 |
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"video.width": 1200,
|
| 423 |
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"video.codec": "h264",
|
| 424 |
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"video.pix_fmt": "yuv420p",
|
| 425 |
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"video.is_depth_map": false,
|
| 426 |
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"video.fps": 30,
|
| 427 |
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"video.channels": 3,
|
| 428 |
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"has_audio": false
|
| 429 |
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}
|
| 430 |
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},
|
| 431 |
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"observation.images.tactile_raw": {
|
| 432 |
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"dtype": "video",
|
| 433 |
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"shape": [
|
| 434 |
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480,
|
| 435 |
+
1600,
|
| 436 |
+
3
|
| 437 |
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],
|
| 438 |
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"names": [
|
| 439 |
+
"height",
|
| 440 |
+
"width",
|
| 441 |
+
"channels"
|
| 442 |
+
],
|
| 443 |
+
"info": {
|
| 444 |
+
"video.height": 480,
|
| 445 |
+
"video.width": 1600,
|
| 446 |
+
"video.codec": "h264",
|
| 447 |
+
"video.pix_fmt": "yuv420p",
|
| 448 |
+
"video.is_depth_map": false,
|
| 449 |
+
"video.fps": 30,
|
| 450 |
+
"video.channels": 3,
|
| 451 |
+
"has_audio": false
|
| 452 |
+
}
|
| 453 |
+
},
|
| 454 |
+
"timestamp": {
|
| 455 |
+
"dtype": "float32",
|
| 456 |
+
"shape": [
|
| 457 |
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1
|
| 458 |
+
],
|
| 459 |
+
"names": null
|
| 460 |
+
},
|
| 461 |
+
"frame_index": {
|
| 462 |
+
"dtype": "int64",
|
| 463 |
+
"shape": [
|
| 464 |
+
1
|
| 465 |
+
],
|
| 466 |
+
"names": null
|
| 467 |
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},
|
| 468 |
+
"episode_index": {
|
| 469 |
+
"dtype": "int64",
|
| 470 |
+
"shape": [
|
| 471 |
+
1
|
| 472 |
+
],
|
| 473 |
+
"names": null
|
| 474 |
+
},
|
| 475 |
+
"index": {
|
| 476 |
+
"dtype": "int64",
|
| 477 |
+
"shape": [
|
| 478 |
+
1
|
| 479 |
+
],
|
| 480 |
+
"names": null
|
| 481 |
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},
|
| 482 |
+
"task_index": {
|
| 483 |
+
"dtype": "int64",
|
| 484 |
+
"shape": [
|
| 485 |
+
1
|
| 486 |
+
],
|
| 487 |
+
"names": null
|
| 488 |
+
}
|
| 489 |
+
}
|
| 490 |
+
}
|
season_POC22061_2026_06_11_19_10_57_train/lerobotv2.1/meta/modality.json
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
}
|
| 12 |
+
},
|
| 13 |
+
"state": {
|
| 14 |
+
"joints": {
|
| 15 |
+
"start": 0,
|
| 16 |
+
"end": 65,
|
| 17 |
+
"rotation_type": null,
|
| 18 |
+
"absolute": true,
|
| 19 |
+
"dtype": "float32",
|
| 20 |
+
"original_key": "observation.state"
|
| 21 |
+
}
|
| 22 |
+
},
|
| 23 |
+
"action": {
|
| 24 |
+
"joints": {
|
| 25 |
+
"start": 0,
|
| 26 |
+
"end": 65,
|
| 27 |
+
"rotation_type": null,
|
| 28 |
+
"absolute": true,
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"original_key": "action"
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"annotation": {
|
| 34 |
+
"human.action.task_description": {
|
| 35 |
+
"original_key": "task_index"
|
| 36 |
+
}
|
| 37 |
+
}
|
| 38 |
+
}
|
season_POC22061_2026_06_11_19_10_57_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22061_2026_06_11_20_21_30_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 15,
|
| 5 |
+
"total_frames": 73590,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:15"
|
| 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.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
+
"right_hand_j6",
|
| 66 |
+
"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
"right_hand_j14",
|
| 74 |
+
"right_hand_j15",
|
| 75 |
+
"right_hand_j16",
|
| 76 |
+
"right_hand_j17",
|
| 77 |
+
"right_hand_j18",
|
| 78 |
+
"right_hand_j19",
|
| 79 |
+
"right_hand_j20",
|
| 80 |
+
"right_hand_j21",
|
| 81 |
+
"motor_j0",
|
| 82 |
+
"motor_j1",
|
| 83 |
+
"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
+
"motor_j6"
|
| 88 |
+
]
|
| 89 |
+
},
|
| 90 |
+
"observation.state.joint_torque": {
|
| 91 |
+
"dtype": "float32",
|
| 92 |
+
"shape": [
|
| 93 |
+
65
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"left_arm_j0",
|
| 97 |
+
"left_arm_j1",
|
| 98 |
+
"left_arm_j2",
|
| 99 |
+
"left_arm_j3",
|
| 100 |
+
"left_arm_j4",
|
| 101 |
+
"left_arm_j5",
|
| 102 |
+
"left_arm_j6",
|
| 103 |
+
"left_hand_j0",
|
| 104 |
+
"left_hand_j1",
|
| 105 |
+
"left_hand_j2",
|
| 106 |
+
"left_hand_j3",
|
| 107 |
+
"left_hand_j4",
|
| 108 |
+
"left_hand_j5",
|
| 109 |
+
"left_hand_j6",
|
| 110 |
+
"left_hand_j7",
|
| 111 |
+
"left_hand_j8",
|
| 112 |
+
"left_hand_j9",
|
| 113 |
+
"left_hand_j10",
|
| 114 |
+
"left_hand_j11",
|
| 115 |
+
"left_hand_j12",
|
| 116 |
+
"left_hand_j13",
|
| 117 |
+
"left_hand_j14",
|
| 118 |
+
"left_hand_j15",
|
| 119 |
+
"left_hand_j16",
|
| 120 |
+
"left_hand_j17",
|
| 121 |
+
"left_hand_j18",
|
| 122 |
+
"left_hand_j19",
|
| 123 |
+
"left_hand_j20",
|
| 124 |
+
"left_hand_j21",
|
| 125 |
+
"right_arm_j0",
|
| 126 |
+
"right_arm_j1",
|
| 127 |
+
"right_arm_j2",
|
| 128 |
+
"right_arm_j3",
|
| 129 |
+
"right_arm_j4",
|
| 130 |
+
"right_arm_j5",
|
| 131 |
+
"right_arm_j6",
|
| 132 |
+
"right_hand_j0",
|
| 133 |
+
"right_hand_j1",
|
| 134 |
+
"right_hand_j2",
|
| 135 |
+
"right_hand_j3",
|
| 136 |
+
"right_hand_j4",
|
| 137 |
+
"right_hand_j5",
|
| 138 |
+
"right_hand_j6",
|
| 139 |
+
"right_hand_j7",
|
| 140 |
+
"right_hand_j8",
|
| 141 |
+
"right_hand_j9",
|
| 142 |
+
"right_hand_j10",
|
| 143 |
+
"right_hand_j11",
|
| 144 |
+
"right_hand_j12",
|
| 145 |
+
"right_hand_j13",
|
| 146 |
+
"right_hand_j14",
|
| 147 |
+
"right_hand_j15",
|
| 148 |
+
"right_hand_j16",
|
| 149 |
+
"right_hand_j17",
|
| 150 |
+
"right_hand_j18",
|
| 151 |
+
"right_hand_j19",
|
| 152 |
+
"right_hand_j20",
|
| 153 |
+
"right_hand_j21",
|
| 154 |
+
"motor_j0",
|
| 155 |
+
"motor_j1",
|
| 156 |
+
"motor_j2",
|
| 157 |
+
"motor_j3",
|
| 158 |
+
"motor_j4",
|
| 159 |
+
"motor_j5",
|
| 160 |
+
"motor_j6"
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"observation.state.tcp": {
|
| 164 |
+
"dtype": "float32",
|
| 165 |
+
"shape": [
|
| 166 |
+
24
|
| 167 |
+
],
|
| 168 |
+
"names": [
|
| 169 |
+
"left_arm_tcp_pose",
|
| 170 |
+
"left_arm_tcp_forces",
|
| 171 |
+
"right_arm_tcp_pose",
|
| 172 |
+
"right_arm_tcp_forces"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"action": {
|
| 176 |
+
"dtype": "float32",
|
| 177 |
+
"shape": [
|
| 178 |
+
65
|
| 179 |
+
],
|
| 180 |
+
"names": [
|
| 181 |
+
"left_arm_j0",
|
| 182 |
+
"left_arm_j1",
|
| 183 |
+
"left_arm_j2",
|
| 184 |
+
"left_arm_j3",
|
| 185 |
+
"left_arm_j4",
|
| 186 |
+
"left_arm_j5",
|
| 187 |
+
"left_arm_j6",
|
| 188 |
+
"left_hand_j0",
|
| 189 |
+
"left_hand_j1",
|
| 190 |
+
"left_hand_j2",
|
| 191 |
+
"left_hand_j3",
|
| 192 |
+
"left_hand_j4",
|
| 193 |
+
"left_hand_j5",
|
| 194 |
+
"left_hand_j6",
|
| 195 |
+
"left_hand_j7",
|
| 196 |
+
"left_hand_j8",
|
| 197 |
+
"left_hand_j9",
|
| 198 |
+
"left_hand_j10",
|
| 199 |
+
"left_hand_j11",
|
| 200 |
+
"left_hand_j12",
|
| 201 |
+
"left_hand_j13",
|
| 202 |
+
"left_hand_j14",
|
| 203 |
+
"left_hand_j15",
|
| 204 |
+
"left_hand_j16",
|
| 205 |
+
"left_hand_j17",
|
| 206 |
+
"left_hand_j18",
|
| 207 |
+
"left_hand_j19",
|
| 208 |
+
"left_hand_j20",
|
| 209 |
+
"left_hand_j21",
|
| 210 |
+
"right_arm_j0",
|
| 211 |
+
"right_arm_j1",
|
| 212 |
+
"right_arm_j2",
|
| 213 |
+
"right_arm_j3",
|
| 214 |
+
"right_arm_j4",
|
| 215 |
+
"right_arm_j5",
|
| 216 |
+
"right_arm_j6",
|
| 217 |
+
"right_hand_j0",
|
| 218 |
+
"right_hand_j1",
|
| 219 |
+
"right_hand_j2",
|
| 220 |
+
"right_hand_j3",
|
| 221 |
+
"right_hand_j4",
|
| 222 |
+
"right_hand_j5",
|
| 223 |
+
"right_hand_j6",
|
| 224 |
+
"right_hand_j7",
|
| 225 |
+
"right_hand_j8",
|
| 226 |
+
"right_hand_j9",
|
| 227 |
+
"right_hand_j10",
|
| 228 |
+
"right_hand_j11",
|
| 229 |
+
"right_hand_j12",
|
| 230 |
+
"right_hand_j13",
|
| 231 |
+
"right_hand_j14",
|
| 232 |
+
"right_hand_j15",
|
| 233 |
+
"right_hand_j16",
|
| 234 |
+
"right_hand_j17",
|
| 235 |
+
"right_hand_j18",
|
| 236 |
+
"right_hand_j19",
|
| 237 |
+
"right_hand_j20",
|
| 238 |
+
"right_hand_j21",
|
| 239 |
+
"motor_j0",
|
| 240 |
+
"motor_j1",
|
| 241 |
+
"motor_j2",
|
| 242 |
+
"motor_j3",
|
| 243 |
+
"motor_j4",
|
| 244 |
+
"motor_j5",
|
| 245 |
+
"motor_j6"
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
+
"observation.images.head_left": {
|
| 249 |
+
"dtype": "video",
|
| 250 |
+
"shape": [
|
| 251 |
+
480,
|
| 252 |
+
480,
|
| 253 |
+
3
|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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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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|
| 275 |
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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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|
| 283 |
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| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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| 296 |
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| 297 |
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| 298 |
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|
| 299 |
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| 300 |
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| 301 |
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| 302 |
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| 303 |
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| 304 |
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| 305 |
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| 306 |
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|
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| 309 |
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| 310 |
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| 311 |
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| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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| 320 |
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| 321 |
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|
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|
| 323 |
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| 324 |
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| 326 |
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| 327 |
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|
| 328 |
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| 329 |
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| 330 |
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| 333 |
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| 334 |
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| 335 |
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|
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|
| 337 |
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| 338 |
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|
| 339 |
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| 340 |
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|
| 341 |
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| 342 |
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|
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|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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|
| 354 |
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|
| 355 |
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|
| 356 |
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|
| 357 |
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|
| 358 |
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|
| 359 |
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|
| 360 |
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"left_middle_fz",
|
| 361 |
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|
| 362 |
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|
| 363 |
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|
| 364 |
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| 365 |
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| 366 |
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|
| 367 |
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| 368 |
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| 369 |
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|
| 370 |
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|
| 371 |
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|
| 372 |
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"left_little_fz",
|
| 373 |
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|
| 374 |
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"left_little_ty",
|
| 375 |
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|
| 376 |
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|
| 377 |
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|
| 378 |
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|
| 379 |
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|
| 380 |
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"right_thumb_ty",
|
| 381 |
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"right_thumb_tz",
|
| 382 |
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"right_index_fx",
|
| 383 |
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"right_index_fy",
|
| 384 |
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"right_index_fz",
|
| 385 |
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"right_index_tx",
|
| 386 |
+
"right_index_ty",
|
| 387 |
+
"right_index_tz",
|
| 388 |
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"right_middle_fx",
|
| 389 |
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"right_middle_fy",
|
| 390 |
+
"right_middle_fz",
|
| 391 |
+
"right_middle_tx",
|
| 392 |
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"right_middle_ty",
|
| 393 |
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"right_middle_tz",
|
| 394 |
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"right_ring_fx",
|
| 395 |
+
"right_ring_fy",
|
| 396 |
+
"right_ring_fz",
|
| 397 |
+
"right_ring_tx",
|
| 398 |
+
"right_ring_ty",
|
| 399 |
+
"right_ring_tz",
|
| 400 |
+
"right_little_fx",
|
| 401 |
+
"right_little_fy",
|
| 402 |
+
"right_little_fz",
|
| 403 |
+
"right_little_tx",
|
| 404 |
+
"right_little_ty",
|
| 405 |
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"right_little_tz"
|
| 406 |
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]
|
| 407 |
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},
|
| 408 |
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|
| 409 |
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| 411 |
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|
| 414 |
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| 415 |
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| 416 |
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|
| 417 |
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"width",
|
| 418 |
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|
| 419 |
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],
|
| 420 |
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| 421 |
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| 422 |
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| 423 |
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| 428 |
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| 429 |
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}
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| 430 |
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| 432 |
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1600,
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|
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| 438 |
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|
| 439 |
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|
| 440 |
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"width",
|
| 441 |
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"channels"
|
| 442 |
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],
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| 443 |
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| 444 |
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|
| 445 |
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|
| 446 |
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|
| 447 |
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|
| 448 |
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|
| 449 |
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|
| 450 |
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|
| 451 |
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|
| 452 |
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}
|
| 453 |
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},
|
| 454 |
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"timestamp": {
|
| 455 |
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|
| 456 |
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|
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|
| 458 |
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],
|
| 459 |
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"names": null
|
| 460 |
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},
|
| 461 |
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"frame_index": {
|
| 462 |
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"dtype": "int64",
|
| 463 |
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|
| 464 |
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1
|
| 465 |
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],
|
| 466 |
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|
| 467 |
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},
|
| 468 |
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|
| 469 |
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|
| 470 |
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|
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|
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|
| 473 |
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|
| 474 |
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},
|
| 475 |
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"index": {
|
| 476 |
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"dtype": "int64",
|
| 477 |
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|
| 478 |
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|
| 479 |
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],
|
| 480 |
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|
| 481 |
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},
|
| 482 |
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|
| 483 |
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|
| 484 |
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|
| 485 |
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|
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|
| 487 |
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|
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}
|
| 489 |
+
}
|
| 490 |
+
}
|
season_POC22061_2026_06_11_20_21_30_train/lerobot3.0/meta/modality.json
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
},
|
| 12 |
+
"head_right": {
|
| 13 |
+
"original_key": "observation.images.head_right"
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"state": {
|
| 17 |
+
"joints": {
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 65,
|
| 20 |
+
"rotation_type": null,
|
| 21 |
+
"absolute": true,
|
| 22 |
+
"dtype": "float32",
|
| 23 |
+
"original_key": "observation.state"
|
| 24 |
+
}
|
| 25 |
+
},
|
| 26 |
+
"action": {
|
| 27 |
+
"joints": {
|
| 28 |
+
"start": 0,
|
| 29 |
+
"end": 65,
|
| 30 |
+
"rotation_type": null,
|
| 31 |
+
"absolute": true,
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"original_key": "action"
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"annotation": {
|
| 37 |
+
"human.action.task_description": {
|
| 38 |
+
"original_key": "task_index"
|
| 39 |
+
}
|
| 40 |
+
}
|
| 41 |
+
}
|
season_POC22061_2026_06_11_20_21_30_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_11_20_21_30_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 6400}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 4270}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 5741}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 3838}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 4802}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 6165}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 4892}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 4275}
|
| 9 |
+
{"episode_index": 8, "tasks": ["north ces task"], "length": 3813}
|
| 10 |
+
{"episode_index": 9, "tasks": ["north ces task"], "length": 4536}
|
| 11 |
+
{"episode_index": 10, "tasks": ["north ces task"], "length": 6107}
|
| 12 |
+
{"episode_index": 11, "tasks": ["north ces task"], "length": 4759}
|
| 13 |
+
{"episode_index": 12, "tasks": ["north ces task"], "length": 4939}
|
| 14 |
+
{"episode_index": 13, "tasks": ["north ces task"], "length": 4995}
|
| 15 |
+
{"episode_index": 14, "tasks": ["north ces task"], "length": 4058}
|
season_POC22061_2026_06_11_20_21_30_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_11_20_21_30_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 15,
|
| 5 |
+
"total_frames": 73590,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 90,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:15"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
+
"right_hand_j6",
|
| 66 |
+
"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
"right_hand_j14",
|
| 74 |
+
"right_hand_j15",
|
| 75 |
+
"right_hand_j16",
|
| 76 |
+
"right_hand_j17",
|
| 77 |
+
"right_hand_j18",
|
| 78 |
+
"right_hand_j19",
|
| 79 |
+
"right_hand_j20",
|
| 80 |
+
"right_hand_j21",
|
| 81 |
+
"motor_j0",
|
| 82 |
+
"motor_j1",
|
| 83 |
+
"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
+
"motor_j6"
|
| 88 |
+
]
|
| 89 |
+
},
|
| 90 |
+
"observation.state.joint_torque": {
|
| 91 |
+
"dtype": "float32",
|
| 92 |
+
"shape": [
|
| 93 |
+
65
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"left_arm_j0",
|
| 97 |
+
"left_arm_j1",
|
| 98 |
+
"left_arm_j2",
|
| 99 |
+
"left_arm_j3",
|
| 100 |
+
"left_arm_j4",
|
| 101 |
+
"left_arm_j5",
|
| 102 |
+
"left_arm_j6",
|
| 103 |
+
"left_hand_j0",
|
| 104 |
+
"left_hand_j1",
|
| 105 |
+
"left_hand_j2",
|
| 106 |
+
"left_hand_j3",
|
| 107 |
+
"left_hand_j4",
|
| 108 |
+
"left_hand_j5",
|
| 109 |
+
"left_hand_j6",
|
| 110 |
+
"left_hand_j7",
|
| 111 |
+
"left_hand_j8",
|
| 112 |
+
"left_hand_j9",
|
| 113 |
+
"left_hand_j10",
|
| 114 |
+
"left_hand_j11",
|
| 115 |
+
"left_hand_j12",
|
| 116 |
+
"left_hand_j13",
|
| 117 |
+
"left_hand_j14",
|
| 118 |
+
"left_hand_j15",
|
| 119 |
+
"left_hand_j16",
|
| 120 |
+
"left_hand_j17",
|
| 121 |
+
"left_hand_j18",
|
| 122 |
+
"left_hand_j19",
|
| 123 |
+
"left_hand_j20",
|
| 124 |
+
"left_hand_j21",
|
| 125 |
+
"right_arm_j0",
|
| 126 |
+
"right_arm_j1",
|
| 127 |
+
"right_arm_j2",
|
| 128 |
+
"right_arm_j3",
|
| 129 |
+
"right_arm_j4",
|
| 130 |
+
"right_arm_j5",
|
| 131 |
+
"right_arm_j6",
|
| 132 |
+
"right_hand_j0",
|
| 133 |
+
"right_hand_j1",
|
| 134 |
+
"right_hand_j2",
|
| 135 |
+
"right_hand_j3",
|
| 136 |
+
"right_hand_j4",
|
| 137 |
+
"right_hand_j5",
|
| 138 |
+
"right_hand_j6",
|
| 139 |
+
"right_hand_j7",
|
| 140 |
+
"right_hand_j8",
|
| 141 |
+
"right_hand_j9",
|
| 142 |
+
"right_hand_j10",
|
| 143 |
+
"right_hand_j11",
|
| 144 |
+
"right_hand_j12",
|
| 145 |
+
"right_hand_j13",
|
| 146 |
+
"right_hand_j14",
|
| 147 |
+
"right_hand_j15",
|
| 148 |
+
"right_hand_j16",
|
| 149 |
+
"right_hand_j17",
|
| 150 |
+
"right_hand_j18",
|
| 151 |
+
"right_hand_j19",
|
| 152 |
+
"right_hand_j20",
|
| 153 |
+
"right_hand_j21",
|
| 154 |
+
"motor_j0",
|
| 155 |
+
"motor_j1",
|
| 156 |
+
"motor_j2",
|
| 157 |
+
"motor_j3",
|
| 158 |
+
"motor_j4",
|
| 159 |
+
"motor_j5",
|
| 160 |
+
"motor_j6"
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"observation.state.tcp": {
|
| 164 |
+
"dtype": "float32",
|
| 165 |
+
"shape": [
|
| 166 |
+
24
|
| 167 |
+
],
|
| 168 |
+
"names": [
|
| 169 |
+
"left_arm_tcp_pose",
|
| 170 |
+
"left_arm_tcp_forces",
|
| 171 |
+
"right_arm_tcp_pose",
|
| 172 |
+
"right_arm_tcp_forces"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"action": {
|
| 176 |
+
"dtype": "float32",
|
| 177 |
+
"shape": [
|
| 178 |
+
65
|
| 179 |
+
],
|
| 180 |
+
"names": [
|
| 181 |
+
"left_arm_j0",
|
| 182 |
+
"left_arm_j1",
|
| 183 |
+
"left_arm_j2",
|
| 184 |
+
"left_arm_j3",
|
| 185 |
+
"left_arm_j4",
|
| 186 |
+
"left_arm_j5",
|
| 187 |
+
"left_arm_j6",
|
| 188 |
+
"left_hand_j0",
|
| 189 |
+
"left_hand_j1",
|
| 190 |
+
"left_hand_j2",
|
| 191 |
+
"left_hand_j3",
|
| 192 |
+
"left_hand_j4",
|
| 193 |
+
"left_hand_j5",
|
| 194 |
+
"left_hand_j6",
|
| 195 |
+
"left_hand_j7",
|
| 196 |
+
"left_hand_j8",
|
| 197 |
+
"left_hand_j9",
|
| 198 |
+
"left_hand_j10",
|
| 199 |
+
"left_hand_j11",
|
| 200 |
+
"left_hand_j12",
|
| 201 |
+
"left_hand_j13",
|
| 202 |
+
"left_hand_j14",
|
| 203 |
+
"left_hand_j15",
|
| 204 |
+
"left_hand_j16",
|
| 205 |
+
"left_hand_j17",
|
| 206 |
+
"left_hand_j18",
|
| 207 |
+
"left_hand_j19",
|
| 208 |
+
"left_hand_j20",
|
| 209 |
+
"left_hand_j21",
|
| 210 |
+
"right_arm_j0",
|
| 211 |
+
"right_arm_j1",
|
| 212 |
+
"right_arm_j2",
|
| 213 |
+
"right_arm_j3",
|
| 214 |
+
"right_arm_j4",
|
| 215 |
+
"right_arm_j5",
|
| 216 |
+
"right_arm_j6",
|
| 217 |
+
"right_hand_j0",
|
| 218 |
+
"right_hand_j1",
|
| 219 |
+
"right_hand_j2",
|
| 220 |
+
"right_hand_j3",
|
| 221 |
+
"right_hand_j4",
|
| 222 |
+
"right_hand_j5",
|
| 223 |
+
"right_hand_j6",
|
| 224 |
+
"right_hand_j7",
|
| 225 |
+
"right_hand_j8",
|
| 226 |
+
"right_hand_j9",
|
| 227 |
+
"right_hand_j10",
|
| 228 |
+
"right_hand_j11",
|
| 229 |
+
"right_hand_j12",
|
| 230 |
+
"right_hand_j13",
|
| 231 |
+
"right_hand_j14",
|
| 232 |
+
"right_hand_j15",
|
| 233 |
+
"right_hand_j16",
|
| 234 |
+
"right_hand_j17",
|
| 235 |
+
"right_hand_j18",
|
| 236 |
+
"right_hand_j19",
|
| 237 |
+
"right_hand_j20",
|
| 238 |
+
"right_hand_j21",
|
| 239 |
+
"motor_j0",
|
| 240 |
+
"motor_j1",
|
| 241 |
+
"motor_j2",
|
| 242 |
+
"motor_j3",
|
| 243 |
+
"motor_j4",
|
| 244 |
+
"motor_j5",
|
| 245 |
+
"motor_j6"
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
+
"observation.images.head_left": {
|
| 249 |
+
"dtype": "video",
|
| 250 |
+
"shape": [
|
| 251 |
+
480,
|
| 252 |
+
480,
|
| 253 |
+
3
|
| 254 |
+
],
|
| 255 |
+
"names": [
|
| 256 |
+
"height",
|
| 257 |
+
"width",
|
| 258 |
+
"channels"
|
| 259 |
+
],
|
| 260 |
+
"info": {
|
| 261 |
+
"video.height": 480,
|
| 262 |
+
"video.width": 480,
|
| 263 |
+
"video.codec": "h264",
|
| 264 |
+
"video.pix_fmt": "yuv420p",
|
| 265 |
+
"video.is_depth_map": false,
|
| 266 |
+
"video.fps": 30,
|
| 267 |
+
"video.channels": 3,
|
| 268 |
+
"has_audio": false
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"observation.images.wrist_left": {
|
| 272 |
+
"dtype": "video",
|
| 273 |
+
"shape": [
|
| 274 |
+
480,
|
| 275 |
+
480,
|
| 276 |
+
3
|
| 277 |
+
],
|
| 278 |
+
"names": [
|
| 279 |
+
"height",
|
| 280 |
+
"width",
|
| 281 |
+
"channels"
|
| 282 |
+
],
|
| 283 |
+
"info": {
|
| 284 |
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"video.height": 480,
|
| 285 |
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"video.width": 480,
|
| 286 |
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"video.codec": "h264",
|
| 287 |
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"video.pix_fmt": "yuv420p",
|
| 288 |
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"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
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"has_audio": false
|
| 292 |
+
}
|
| 293 |
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},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
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"shape": [
|
| 297 |
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480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
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],
|
| 301 |
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"names": [
|
| 302 |
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"height",
|
| 303 |
+
"width",
|
| 304 |
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"channels"
|
| 305 |
+
],
|
| 306 |
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"info": {
|
| 307 |
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"video.height": 480,
|
| 308 |
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"video.width": 480,
|
| 309 |
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"video.codec": "h264",
|
| 310 |
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"video.pix_fmt": "yuv420p",
|
| 311 |
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"video.is_depth_map": false,
|
| 312 |
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"video.fps": 30,
|
| 313 |
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"video.channels": 3,
|
| 314 |
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"has_audio": false
|
| 315 |
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}
|
| 316 |
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},
|
| 317 |
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"observation.images.head_right": {
|
| 318 |
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"dtype": "video",
|
| 319 |
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"shape": [
|
| 320 |
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480,
|
| 321 |
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480,
|
| 322 |
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3
|
| 323 |
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],
|
| 324 |
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"names": [
|
| 325 |
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"height",
|
| 326 |
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"width",
|
| 327 |
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"channels"
|
| 328 |
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],
|
| 329 |
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"info": {
|
| 330 |
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"video.height": 480,
|
| 331 |
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|
| 332 |
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"video.codec": "h264",
|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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"video.channels": 3,
|
| 337 |
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"has_audio": false
|
| 338 |
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}
|
| 339 |
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},
|
| 340 |
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"observation.tactile": {
|
| 341 |
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"dtype": "float32",
|
| 342 |
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"shape": [
|
| 343 |
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60
|
| 344 |
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],
|
| 345 |
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"names": [
|
| 346 |
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"left_thumb_fx",
|
| 347 |
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"left_thumb_fy",
|
| 348 |
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"left_thumb_fz",
|
| 349 |
+
"left_thumb_tx",
|
| 350 |
+
"left_thumb_ty",
|
| 351 |
+
"left_thumb_tz",
|
| 352 |
+
"left_index_fx",
|
| 353 |
+
"left_index_fy",
|
| 354 |
+
"left_index_fz",
|
| 355 |
+
"left_index_tx",
|
| 356 |
+
"left_index_ty",
|
| 357 |
+
"left_index_tz",
|
| 358 |
+
"left_middle_fx",
|
| 359 |
+
"left_middle_fy",
|
| 360 |
+
"left_middle_fz",
|
| 361 |
+
"left_middle_tx",
|
| 362 |
+
"left_middle_ty",
|
| 363 |
+
"left_middle_tz",
|
| 364 |
+
"left_ring_fx",
|
| 365 |
+
"left_ring_fy",
|
| 366 |
+
"left_ring_fz",
|
| 367 |
+
"left_ring_tx",
|
| 368 |
+
"left_ring_ty",
|
| 369 |
+
"left_ring_tz",
|
| 370 |
+
"left_little_fx",
|
| 371 |
+
"left_little_fy",
|
| 372 |
+
"left_little_fz",
|
| 373 |
+
"left_little_tx",
|
| 374 |
+
"left_little_ty",
|
| 375 |
+
"left_little_tz",
|
| 376 |
+
"right_thumb_fx",
|
| 377 |
+
"right_thumb_fy",
|
| 378 |
+
"right_thumb_fz",
|
| 379 |
+
"right_thumb_tx",
|
| 380 |
+
"right_thumb_ty",
|
| 381 |
+
"right_thumb_tz",
|
| 382 |
+
"right_index_fx",
|
| 383 |
+
"right_index_fy",
|
| 384 |
+
"right_index_fz",
|
| 385 |
+
"right_index_tx",
|
| 386 |
+
"right_index_ty",
|
| 387 |
+
"right_index_tz",
|
| 388 |
+
"right_middle_fx",
|
| 389 |
+
"right_middle_fy",
|
| 390 |
+
"right_middle_fz",
|
| 391 |
+
"right_middle_tx",
|
| 392 |
+
"right_middle_ty",
|
| 393 |
+
"right_middle_tz",
|
| 394 |
+
"right_ring_fx",
|
| 395 |
+
"right_ring_fy",
|
| 396 |
+
"right_ring_fz",
|
| 397 |
+
"right_ring_tx",
|
| 398 |
+
"right_ring_ty",
|
| 399 |
+
"right_ring_tz",
|
| 400 |
+
"right_little_fx",
|
| 401 |
+
"right_little_fy",
|
| 402 |
+
"right_little_fz",
|
| 403 |
+
"right_little_tx",
|
| 404 |
+
"right_little_ty",
|
| 405 |
+
"right_little_tz"
|
| 406 |
+
]
|
| 407 |
+
},
|
| 408 |
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"observation.images.tactile_deform": {
|
| 409 |
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"dtype": "video",
|
| 410 |
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"shape": [
|
| 411 |
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480,
|
| 412 |
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1200,
|
| 413 |
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3
|
| 414 |
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],
|
| 415 |
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"names": [
|
| 416 |
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"height",
|
| 417 |
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"width",
|
| 418 |
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"channels"
|
| 419 |
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],
|
| 420 |
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"info": {
|
| 421 |
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"video.height": 480,
|
| 422 |
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"video.width": 1200,
|
| 423 |
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"video.codec": "h264",
|
| 424 |
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"video.pix_fmt": "yuv420p",
|
| 425 |
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"video.is_depth_map": false,
|
| 426 |
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|
| 427 |
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"video.channels": 3,
|
| 428 |
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"has_audio": false
|
| 429 |
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}
|
| 430 |
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},
|
| 431 |
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"observation.images.tactile_raw": {
|
| 432 |
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"dtype": "video",
|
| 433 |
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"shape": [
|
| 434 |
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480,
|
| 435 |
+
1600,
|
| 436 |
+
3
|
| 437 |
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],
|
| 438 |
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"names": [
|
| 439 |
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"height",
|
| 440 |
+
"width",
|
| 441 |
+
"channels"
|
| 442 |
+
],
|
| 443 |
+
"info": {
|
| 444 |
+
"video.height": 480,
|
| 445 |
+
"video.width": 1600,
|
| 446 |
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"video.codec": "h264",
|
| 447 |
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"video.pix_fmt": "yuv420p",
|
| 448 |
+
"video.is_depth_map": false,
|
| 449 |
+
"video.fps": 30,
|
| 450 |
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"video.channels": 3,
|
| 451 |
+
"has_audio": false
|
| 452 |
+
}
|
| 453 |
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},
|
| 454 |
+
"timestamp": {
|
| 455 |
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"dtype": "float32",
|
| 456 |
+
"shape": [
|
| 457 |
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1
|
| 458 |
+
],
|
| 459 |
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"names": null
|
| 460 |
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},
|
| 461 |
+
"frame_index": {
|
| 462 |
+
"dtype": "int64",
|
| 463 |
+
"shape": [
|
| 464 |
+
1
|
| 465 |
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],
|
| 466 |
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"names": null
|
| 467 |
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},
|
| 468 |
+
"episode_index": {
|
| 469 |
+
"dtype": "int64",
|
| 470 |
+
"shape": [
|
| 471 |
+
1
|
| 472 |
+
],
|
| 473 |
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"names": null
|
| 474 |
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},
|
| 475 |
+
"index": {
|
| 476 |
+
"dtype": "int64",
|
| 477 |
+
"shape": [
|
| 478 |
+
1
|
| 479 |
+
],
|
| 480 |
+
"names": null
|
| 481 |
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},
|
| 482 |
+
"task_index": {
|
| 483 |
+
"dtype": "int64",
|
| 484 |
+
"shape": [
|
| 485 |
+
1
|
| 486 |
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],
|
| 487 |
+
"names": null
|
| 488 |
+
}
|
| 489 |
+
}
|
| 490 |
+
}
|
season_POC22061_2026_06_11_20_21_30_train/lerobotv2.1/meta/modality.json
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
}
|
| 12 |
+
},
|
| 13 |
+
"state": {
|
| 14 |
+
"joints": {
|
| 15 |
+
"start": 0,
|
| 16 |
+
"end": 65,
|
| 17 |
+
"rotation_type": null,
|
| 18 |
+
"absolute": true,
|
| 19 |
+
"dtype": "float32",
|
| 20 |
+
"original_key": "observation.state"
|
| 21 |
+
}
|
| 22 |
+
},
|
| 23 |
+
"action": {
|
| 24 |
+
"joints": {
|
| 25 |
+
"start": 0,
|
| 26 |
+
"end": 65,
|
| 27 |
+
"rotation_type": null,
|
| 28 |
+
"absolute": true,
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"original_key": "action"
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"annotation": {
|
| 34 |
+
"human.action.task_description": {
|
| 35 |
+
"original_key": "task_index"
|
| 36 |
+
}
|
| 37 |
+
}
|
| 38 |
+
}
|
season_POC22061_2026_06_11_20_21_30_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22061_2026_06_15_10_15_11_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 12,
|
| 5 |
+
"total_frames": 59974,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:12"
|
| 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.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
+
"right_hand_j6",
|
| 66 |
+
"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
"right_hand_j14",
|
| 74 |
+
"right_hand_j15",
|
| 75 |
+
"right_hand_j16",
|
| 76 |
+
"right_hand_j17",
|
| 77 |
+
"right_hand_j18",
|
| 78 |
+
"right_hand_j19",
|
| 79 |
+
"right_hand_j20",
|
| 80 |
+
"right_hand_j21",
|
| 81 |
+
"motor_j0",
|
| 82 |
+
"motor_j1",
|
| 83 |
+
"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
+
"motor_j6"
|
| 88 |
+
]
|
| 89 |
+
},
|
| 90 |
+
"observation.state.joint_torque": {
|
| 91 |
+
"dtype": "float32",
|
| 92 |
+
"shape": [
|
| 93 |
+
65
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"left_arm_j0",
|
| 97 |
+
"left_arm_j1",
|
| 98 |
+
"left_arm_j2",
|
| 99 |
+
"left_arm_j3",
|
| 100 |
+
"left_arm_j4",
|
| 101 |
+
"left_arm_j5",
|
| 102 |
+
"left_arm_j6",
|
| 103 |
+
"left_hand_j0",
|
| 104 |
+
"left_hand_j1",
|
| 105 |
+
"left_hand_j2",
|
| 106 |
+
"left_hand_j3",
|
| 107 |
+
"left_hand_j4",
|
| 108 |
+
"left_hand_j5",
|
| 109 |
+
"left_hand_j6",
|
| 110 |
+
"left_hand_j7",
|
| 111 |
+
"left_hand_j8",
|
| 112 |
+
"left_hand_j9",
|
| 113 |
+
"left_hand_j10",
|
| 114 |
+
"left_hand_j11",
|
| 115 |
+
"left_hand_j12",
|
| 116 |
+
"left_hand_j13",
|
| 117 |
+
"left_hand_j14",
|
| 118 |
+
"left_hand_j15",
|
| 119 |
+
"left_hand_j16",
|
| 120 |
+
"left_hand_j17",
|
| 121 |
+
"left_hand_j18",
|
| 122 |
+
"left_hand_j19",
|
| 123 |
+
"left_hand_j20",
|
| 124 |
+
"left_hand_j21",
|
| 125 |
+
"right_arm_j0",
|
| 126 |
+
"right_arm_j1",
|
| 127 |
+
"right_arm_j2",
|
| 128 |
+
"right_arm_j3",
|
| 129 |
+
"right_arm_j4",
|
| 130 |
+
"right_arm_j5",
|
| 131 |
+
"right_arm_j6",
|
| 132 |
+
"right_hand_j0",
|
| 133 |
+
"right_hand_j1",
|
| 134 |
+
"right_hand_j2",
|
| 135 |
+
"right_hand_j3",
|
| 136 |
+
"right_hand_j4",
|
| 137 |
+
"right_hand_j5",
|
| 138 |
+
"right_hand_j6",
|
| 139 |
+
"right_hand_j7",
|
| 140 |
+
"right_hand_j8",
|
| 141 |
+
"right_hand_j9",
|
| 142 |
+
"right_hand_j10",
|
| 143 |
+
"right_hand_j11",
|
| 144 |
+
"right_hand_j12",
|
| 145 |
+
"right_hand_j13",
|
| 146 |
+
"right_hand_j14",
|
| 147 |
+
"right_hand_j15",
|
| 148 |
+
"right_hand_j16",
|
| 149 |
+
"right_hand_j17",
|
| 150 |
+
"right_hand_j18",
|
| 151 |
+
"right_hand_j19",
|
| 152 |
+
"right_hand_j20",
|
| 153 |
+
"right_hand_j21",
|
| 154 |
+
"motor_j0",
|
| 155 |
+
"motor_j1",
|
| 156 |
+
"motor_j2",
|
| 157 |
+
"motor_j3",
|
| 158 |
+
"motor_j4",
|
| 159 |
+
"motor_j5",
|
| 160 |
+
"motor_j6"
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"observation.state.tcp": {
|
| 164 |
+
"dtype": "float32",
|
| 165 |
+
"shape": [
|
| 166 |
+
24
|
| 167 |
+
],
|
| 168 |
+
"names": [
|
| 169 |
+
"left_arm_tcp_pose",
|
| 170 |
+
"left_arm_tcp_forces",
|
| 171 |
+
"right_arm_tcp_pose",
|
| 172 |
+
"right_arm_tcp_forces"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"action": {
|
| 176 |
+
"dtype": "float32",
|
| 177 |
+
"shape": [
|
| 178 |
+
65
|
| 179 |
+
],
|
| 180 |
+
"names": [
|
| 181 |
+
"left_arm_j0",
|
| 182 |
+
"left_arm_j1",
|
| 183 |
+
"left_arm_j2",
|
| 184 |
+
"left_arm_j3",
|
| 185 |
+
"left_arm_j4",
|
| 186 |
+
"left_arm_j5",
|
| 187 |
+
"left_arm_j6",
|
| 188 |
+
"left_hand_j0",
|
| 189 |
+
"left_hand_j1",
|
| 190 |
+
"left_hand_j2",
|
| 191 |
+
"left_hand_j3",
|
| 192 |
+
"left_hand_j4",
|
| 193 |
+
"left_hand_j5",
|
| 194 |
+
"left_hand_j6",
|
| 195 |
+
"left_hand_j7",
|
| 196 |
+
"left_hand_j8",
|
| 197 |
+
"left_hand_j9",
|
| 198 |
+
"left_hand_j10",
|
| 199 |
+
"left_hand_j11",
|
| 200 |
+
"left_hand_j12",
|
| 201 |
+
"left_hand_j13",
|
| 202 |
+
"left_hand_j14",
|
| 203 |
+
"left_hand_j15",
|
| 204 |
+
"left_hand_j16",
|
| 205 |
+
"left_hand_j17",
|
| 206 |
+
"left_hand_j18",
|
| 207 |
+
"left_hand_j19",
|
| 208 |
+
"left_hand_j20",
|
| 209 |
+
"left_hand_j21",
|
| 210 |
+
"right_arm_j0",
|
| 211 |
+
"right_arm_j1",
|
| 212 |
+
"right_arm_j2",
|
| 213 |
+
"right_arm_j3",
|
| 214 |
+
"right_arm_j4",
|
| 215 |
+
"right_arm_j5",
|
| 216 |
+
"right_arm_j6",
|
| 217 |
+
"right_hand_j0",
|
| 218 |
+
"right_hand_j1",
|
| 219 |
+
"right_hand_j2",
|
| 220 |
+
"right_hand_j3",
|
| 221 |
+
"right_hand_j4",
|
| 222 |
+
"right_hand_j5",
|
| 223 |
+
"right_hand_j6",
|
| 224 |
+
"right_hand_j7",
|
| 225 |
+
"right_hand_j8",
|
| 226 |
+
"right_hand_j9",
|
| 227 |
+
"right_hand_j10",
|
| 228 |
+
"right_hand_j11",
|
| 229 |
+
"right_hand_j12",
|
| 230 |
+
"right_hand_j13",
|
| 231 |
+
"right_hand_j14",
|
| 232 |
+
"right_hand_j15",
|
| 233 |
+
"right_hand_j16",
|
| 234 |
+
"right_hand_j17",
|
| 235 |
+
"right_hand_j18",
|
| 236 |
+
"right_hand_j19",
|
| 237 |
+
"right_hand_j20",
|
| 238 |
+
"right_hand_j21",
|
| 239 |
+
"motor_j0",
|
| 240 |
+
"motor_j1",
|
| 241 |
+
"motor_j2",
|
| 242 |
+
"motor_j3",
|
| 243 |
+
"motor_j4",
|
| 244 |
+
"motor_j5",
|
| 245 |
+
"motor_j6"
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
+
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|
| 249 |
+
"dtype": "video",
|
| 250 |
+
"shape": [
|
| 251 |
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480,
|
| 252 |
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480,
|
| 253 |
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3
|
| 254 |
+
],
|
| 255 |
+
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|
| 256 |
+
"height",
|
| 257 |
+
"width",
|
| 258 |
+
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|
| 259 |
+
],
|
| 260 |
+
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|
| 261 |
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|
| 262 |
+
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|
| 263 |
+
"video.codec": "h264",
|
| 264 |
+
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|
| 265 |
+
"video.is_depth_map": false,
|
| 266 |
+
"video.fps": 30,
|
| 267 |
+
"video.channels": 3,
|
| 268 |
+
"has_audio": false
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
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|
| 272 |
+
"dtype": "video",
|
| 273 |
+
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|
| 274 |
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480,
|
| 275 |
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480,
|
| 276 |
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3
|
| 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 |
+
],
|
| 283 |
+
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|
| 284 |
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|
| 285 |
+
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|
| 286 |
+
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|
| 287 |
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|
| 288 |
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"video.is_depth_map": false,
|
| 289 |
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|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
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|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
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480,
|
| 298 |
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480,
|
| 299 |
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3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
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"height",
|
| 303 |
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|
| 304 |
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|
| 305 |
+
],
|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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"video.channels": 3,
|
| 314 |
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"has_audio": false
|
| 315 |
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}
|
| 316 |
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},
|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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480,
|
| 321 |
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480,
|
| 322 |
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3
|
| 323 |
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],
|
| 324 |
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"names": [
|
| 325 |
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"height",
|
| 326 |
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"width",
|
| 327 |
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|
| 328 |
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],
|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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"video.channels": 3,
|
| 337 |
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"has_audio": false
|
| 338 |
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}
|
| 339 |
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},
|
| 340 |
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|
| 341 |
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"dtype": "float32",
|
| 342 |
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"shape": [
|
| 343 |
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60
|
| 344 |
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],
|
| 345 |
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"names": [
|
| 346 |
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"left_thumb_fx",
|
| 347 |
+
"left_thumb_fy",
|
| 348 |
+
"left_thumb_fz",
|
| 349 |
+
"left_thumb_tx",
|
| 350 |
+
"left_thumb_ty",
|
| 351 |
+
"left_thumb_tz",
|
| 352 |
+
"left_index_fx",
|
| 353 |
+
"left_index_fy",
|
| 354 |
+
"left_index_fz",
|
| 355 |
+
"left_index_tx",
|
| 356 |
+
"left_index_ty",
|
| 357 |
+
"left_index_tz",
|
| 358 |
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"left_middle_fx",
|
| 359 |
+
"left_middle_fy",
|
| 360 |
+
"left_middle_fz",
|
| 361 |
+
"left_middle_tx",
|
| 362 |
+
"left_middle_ty",
|
| 363 |
+
"left_middle_tz",
|
| 364 |
+
"left_ring_fx",
|
| 365 |
+
"left_ring_fy",
|
| 366 |
+
"left_ring_fz",
|
| 367 |
+
"left_ring_tx",
|
| 368 |
+
"left_ring_ty",
|
| 369 |
+
"left_ring_tz",
|
| 370 |
+
"left_little_fx",
|
| 371 |
+
"left_little_fy",
|
| 372 |
+
"left_little_fz",
|
| 373 |
+
"left_little_tx",
|
| 374 |
+
"left_little_ty",
|
| 375 |
+
"left_little_tz",
|
| 376 |
+
"right_thumb_fx",
|
| 377 |
+
"right_thumb_fy",
|
| 378 |
+
"right_thumb_fz",
|
| 379 |
+
"right_thumb_tx",
|
| 380 |
+
"right_thumb_ty",
|
| 381 |
+
"right_thumb_tz",
|
| 382 |
+
"right_index_fx",
|
| 383 |
+
"right_index_fy",
|
| 384 |
+
"right_index_fz",
|
| 385 |
+
"right_index_tx",
|
| 386 |
+
"right_index_ty",
|
| 387 |
+
"right_index_tz",
|
| 388 |
+
"right_middle_fx",
|
| 389 |
+
"right_middle_fy",
|
| 390 |
+
"right_middle_fz",
|
| 391 |
+
"right_middle_tx",
|
| 392 |
+
"right_middle_ty",
|
| 393 |
+
"right_middle_tz",
|
| 394 |
+
"right_ring_fx",
|
| 395 |
+
"right_ring_fy",
|
| 396 |
+
"right_ring_fz",
|
| 397 |
+
"right_ring_tx",
|
| 398 |
+
"right_ring_ty",
|
| 399 |
+
"right_ring_tz",
|
| 400 |
+
"right_little_fx",
|
| 401 |
+
"right_little_fy",
|
| 402 |
+
"right_little_fz",
|
| 403 |
+
"right_little_tx",
|
| 404 |
+
"right_little_ty",
|
| 405 |
+
"right_little_tz"
|
| 406 |
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]
|
| 407 |
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},
|
| 408 |
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"observation.images.tactile_deform": {
|
| 409 |
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|
| 410 |
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|
| 411 |
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| 412 |
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1200,
|
| 413 |
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3
|
| 414 |
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],
|
| 415 |
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"names": [
|
| 416 |
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"height",
|
| 417 |
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"width",
|
| 418 |
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"channels"
|
| 419 |
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],
|
| 420 |
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"info": {
|
| 421 |
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"video.height": 480,
|
| 422 |
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"video.width": 1200,
|
| 423 |
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"video.codec": "h264",
|
| 424 |
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"video.pix_fmt": "yuv420p",
|
| 425 |
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"video.is_depth_map": false,
|
| 426 |
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|
| 427 |
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"video.channels": 3,
|
| 428 |
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"has_audio": false
|
| 429 |
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}
|
| 430 |
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},
|
| 431 |
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"observation.images.tactile_raw": {
|
| 432 |
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"dtype": "video",
|
| 433 |
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"shape": [
|
| 434 |
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480,
|
| 435 |
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1600,
|
| 436 |
+
3
|
| 437 |
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],
|
| 438 |
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"names": [
|
| 439 |
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"height",
|
| 440 |
+
"width",
|
| 441 |
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"channels"
|
| 442 |
+
],
|
| 443 |
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"info": {
|
| 444 |
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"video.height": 480,
|
| 445 |
+
"video.width": 1600,
|
| 446 |
+
"video.codec": "h264",
|
| 447 |
+
"video.pix_fmt": "yuv420p",
|
| 448 |
+
"video.is_depth_map": false,
|
| 449 |
+
"video.fps": 30,
|
| 450 |
+
"video.channels": 3,
|
| 451 |
+
"has_audio": false
|
| 452 |
+
}
|
| 453 |
+
},
|
| 454 |
+
"timestamp": {
|
| 455 |
+
"dtype": "float32",
|
| 456 |
+
"shape": [
|
| 457 |
+
1
|
| 458 |
+
],
|
| 459 |
+
"names": null
|
| 460 |
+
},
|
| 461 |
+
"frame_index": {
|
| 462 |
+
"dtype": "int64",
|
| 463 |
+
"shape": [
|
| 464 |
+
1
|
| 465 |
+
],
|
| 466 |
+
"names": null
|
| 467 |
+
},
|
| 468 |
+
"episode_index": {
|
| 469 |
+
"dtype": "int64",
|
| 470 |
+
"shape": [
|
| 471 |
+
1
|
| 472 |
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],
|
| 473 |
+
"names": null
|
| 474 |
+
},
|
| 475 |
+
"index": {
|
| 476 |
+
"dtype": "int64",
|
| 477 |
+
"shape": [
|
| 478 |
+
1
|
| 479 |
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],
|
| 480 |
+
"names": null
|
| 481 |
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},
|
| 482 |
+
"task_index": {
|
| 483 |
+
"dtype": "int64",
|
| 484 |
+
"shape": [
|
| 485 |
+
1
|
| 486 |
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],
|
| 487 |
+
"names": null
|
| 488 |
+
}
|
| 489 |
+
}
|
| 490 |
+
}
|
season_POC22061_2026_06_15_10_15_11_train/lerobot3.0/meta/modality.json
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
},
|
| 12 |
+
"head_right": {
|
| 13 |
+
"original_key": "observation.images.head_right"
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"state": {
|
| 17 |
+
"joints": {
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 65,
|
| 20 |
+
"rotation_type": null,
|
| 21 |
+
"absolute": true,
|
| 22 |
+
"dtype": "float32",
|
| 23 |
+
"original_key": "observation.state"
|
| 24 |
+
}
|
| 25 |
+
},
|
| 26 |
+
"action": {
|
| 27 |
+
"joints": {
|
| 28 |
+
"start": 0,
|
| 29 |
+
"end": 65,
|
| 30 |
+
"rotation_type": null,
|
| 31 |
+
"absolute": true,
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"original_key": "action"
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"annotation": {
|
| 37 |
+
"human.action.task_description": {
|
| 38 |
+
"original_key": "task_index"
|
| 39 |
+
}
|
| 40 |
+
}
|
| 41 |
+
}
|
season_POC22061_2026_06_15_10_15_11_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_15_10_15_11_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 4145}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 5172}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 6023}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 4195}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 4140}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 5652}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 4187}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 5826}
|
| 9 |
+
{"episode_index": 8, "tasks": ["north ces task"], "length": 4257}
|
| 10 |
+
{"episode_index": 9, "tasks": ["north ces task"], "length": 7090}
|
| 11 |
+
{"episode_index": 10, "tasks": ["north ces task"], "length": 4855}
|
| 12 |
+
{"episode_index": 11, "tasks": ["north ces task"], "length": 4432}
|
season_POC22061_2026_06_15_10_15_11_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_15_10_15_11_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 12,
|
| 5 |
+
"total_frames": 59974,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
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"total_videos": 72,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
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|
| 12 |
+
"train": "0:12"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
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|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
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"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
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"left_hand_j20",
|
| 51 |
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"left_hand_j21",
|
| 52 |
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"right_arm_j0",
|
| 53 |
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"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
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"right_hand_j0",
|
| 60 |
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"right_hand_j1",
|
| 61 |
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"right_hand_j2",
|
| 62 |
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"right_hand_j3",
|
| 63 |
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"right_hand_j4",
|
| 64 |
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"right_hand_j5",
|
| 65 |
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"right_hand_j6",
|
| 66 |
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"right_hand_j7",
|
| 67 |
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"right_hand_j8",
|
| 68 |
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"right_hand_j9",
|
| 69 |
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"right_hand_j10",
|
| 70 |
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"right_hand_j11",
|
| 71 |
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"right_hand_j12",
|
| 72 |
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|
| 73 |
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|
| 74 |
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"right_hand_j15",
|
| 75 |
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"right_hand_j16",
|
| 76 |
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|
| 77 |
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"right_hand_j18",
|
| 78 |
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|
| 79 |
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"right_hand_j20",
|
| 80 |
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"right_hand_j21",
|
| 81 |
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"motor_j0",
|
| 82 |
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"motor_j1",
|
| 83 |
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"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
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"motor_j6"
|
| 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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|
| 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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|
| 124 |
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"left_hand_j21",
|
| 125 |
+
"right_arm_j0",
|
| 126 |
+
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|
| 127 |
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"right_arm_j2",
|
| 128 |
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"right_arm_j3",
|
| 129 |
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"right_arm_j4",
|
| 130 |
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"right_arm_j5",
|
| 131 |
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"right_arm_j6",
|
| 132 |
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"right_hand_j0",
|
| 133 |
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"right_hand_j1",
|
| 134 |
+
"right_hand_j2",
|
| 135 |
+
"right_hand_j3",
|
| 136 |
+
"right_hand_j4",
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
+
"right_hand_j10",
|
| 143 |
+
"right_hand_j11",
|
| 144 |
+
"right_hand_j12",
|
| 145 |
+
"right_hand_j13",
|
| 146 |
+
"right_hand_j14",
|
| 147 |
+
"right_hand_j15",
|
| 148 |
+
"right_hand_j16",
|
| 149 |
+
"right_hand_j17",
|
| 150 |
+
"right_hand_j18",
|
| 151 |
+
"right_hand_j19",
|
| 152 |
+
"right_hand_j20",
|
| 153 |
+
"right_hand_j21",
|
| 154 |
+
"motor_j0",
|
| 155 |
+
"motor_j1",
|
| 156 |
+
"motor_j2",
|
| 157 |
+
"motor_j3",
|
| 158 |
+
"motor_j4",
|
| 159 |
+
"motor_j5",
|
| 160 |
+
"motor_j6"
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
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|
| 164 |
+
"dtype": "float32",
|
| 165 |
+
"shape": [
|
| 166 |
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24
|
| 167 |
+
],
|
| 168 |
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|
| 169 |
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|
| 170 |
+
"left_arm_tcp_forces",
|
| 171 |
+
"right_arm_tcp_pose",
|
| 172 |
+
"right_arm_tcp_forces"
|
| 173 |
+
]
|
| 174 |
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|
| 175 |
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"action": {
|
| 176 |
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"dtype": "float32",
|
| 177 |
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|
| 178 |
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65
|
| 179 |
+
],
|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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"left_arm_j3",
|
| 185 |
+
"left_arm_j4",
|
| 186 |
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"left_arm_j5",
|
| 187 |
+
"left_arm_j6",
|
| 188 |
+
"left_hand_j0",
|
| 189 |
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"left_hand_j1",
|
| 190 |
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"left_hand_j2",
|
| 191 |
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"left_hand_j3",
|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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"left_hand_j17",
|
| 206 |
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"left_hand_j18",
|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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"motor_j0",
|
| 240 |
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"motor_j1",
|
| 241 |
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|
| 242 |
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|
| 243 |
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"motor_j4",
|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
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| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
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|
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|
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| 360 |
+
"left_middle_fz",
|
| 361 |
+
"left_middle_tx",
|
| 362 |
+
"left_middle_ty",
|
| 363 |
+
"left_middle_tz",
|
| 364 |
+
"left_ring_fx",
|
| 365 |
+
"left_ring_fy",
|
| 366 |
+
"left_ring_fz",
|
| 367 |
+
"left_ring_tx",
|
| 368 |
+
"left_ring_ty",
|
| 369 |
+
"left_ring_tz",
|
| 370 |
+
"left_little_fx",
|
| 371 |
+
"left_little_fy",
|
| 372 |
+
"left_little_fz",
|
| 373 |
+
"left_little_tx",
|
| 374 |
+
"left_little_ty",
|
| 375 |
+
"left_little_tz",
|
| 376 |
+
"right_thumb_fx",
|
| 377 |
+
"right_thumb_fy",
|
| 378 |
+
"right_thumb_fz",
|
| 379 |
+
"right_thumb_tx",
|
| 380 |
+
"right_thumb_ty",
|
| 381 |
+
"right_thumb_tz",
|
| 382 |
+
"right_index_fx",
|
| 383 |
+
"right_index_fy",
|
| 384 |
+
"right_index_fz",
|
| 385 |
+
"right_index_tx",
|
| 386 |
+
"right_index_ty",
|
| 387 |
+
"right_index_tz",
|
| 388 |
+
"right_middle_fx",
|
| 389 |
+
"right_middle_fy",
|
| 390 |
+
"right_middle_fz",
|
| 391 |
+
"right_middle_tx",
|
| 392 |
+
"right_middle_ty",
|
| 393 |
+
"right_middle_tz",
|
| 394 |
+
"right_ring_fx",
|
| 395 |
+
"right_ring_fy",
|
| 396 |
+
"right_ring_fz",
|
| 397 |
+
"right_ring_tx",
|
| 398 |
+
"right_ring_ty",
|
| 399 |
+
"right_ring_tz",
|
| 400 |
+
"right_little_fx",
|
| 401 |
+
"right_little_fy",
|
| 402 |
+
"right_little_fz",
|
| 403 |
+
"right_little_tx",
|
| 404 |
+
"right_little_ty",
|
| 405 |
+
"right_little_tz"
|
| 406 |
+
]
|
| 407 |
+
},
|
| 408 |
+
"observation.images.tactile_deform": {
|
| 409 |
+
"dtype": "video",
|
| 410 |
+
"shape": [
|
| 411 |
+
480,
|
| 412 |
+
1200,
|
| 413 |
+
3
|
| 414 |
+
],
|
| 415 |
+
"names": [
|
| 416 |
+
"height",
|
| 417 |
+
"width",
|
| 418 |
+
"channels"
|
| 419 |
+
],
|
| 420 |
+
"info": {
|
| 421 |
+
"video.height": 480,
|
| 422 |
+
"video.width": 1200,
|
| 423 |
+
"video.codec": "h264",
|
| 424 |
+
"video.pix_fmt": "yuv420p",
|
| 425 |
+
"video.is_depth_map": false,
|
| 426 |
+
"video.fps": 30,
|
| 427 |
+
"video.channels": 3,
|
| 428 |
+
"has_audio": false
|
| 429 |
+
}
|
| 430 |
+
},
|
| 431 |
+
"observation.images.tactile_raw": {
|
| 432 |
+
"dtype": "video",
|
| 433 |
+
"shape": [
|
| 434 |
+
480,
|
| 435 |
+
1600,
|
| 436 |
+
3
|
| 437 |
+
],
|
| 438 |
+
"names": [
|
| 439 |
+
"height",
|
| 440 |
+
"width",
|
| 441 |
+
"channels"
|
| 442 |
+
],
|
| 443 |
+
"info": {
|
| 444 |
+
"video.height": 480,
|
| 445 |
+
"video.width": 1600,
|
| 446 |
+
"video.codec": "h264",
|
| 447 |
+
"video.pix_fmt": "yuv420p",
|
| 448 |
+
"video.is_depth_map": false,
|
| 449 |
+
"video.fps": 30,
|
| 450 |
+
"video.channels": 3,
|
| 451 |
+
"has_audio": false
|
| 452 |
+
}
|
| 453 |
+
},
|
| 454 |
+
"timestamp": {
|
| 455 |
+
"dtype": "float32",
|
| 456 |
+
"shape": [
|
| 457 |
+
1
|
| 458 |
+
],
|
| 459 |
+
"names": null
|
| 460 |
+
},
|
| 461 |
+
"frame_index": {
|
| 462 |
+
"dtype": "int64",
|
| 463 |
+
"shape": [
|
| 464 |
+
1
|
| 465 |
+
],
|
| 466 |
+
"names": null
|
| 467 |
+
},
|
| 468 |
+
"episode_index": {
|
| 469 |
+
"dtype": "int64",
|
| 470 |
+
"shape": [
|
| 471 |
+
1
|
| 472 |
+
],
|
| 473 |
+
"names": null
|
| 474 |
+
},
|
| 475 |
+
"index": {
|
| 476 |
+
"dtype": "int64",
|
| 477 |
+
"shape": [
|
| 478 |
+
1
|
| 479 |
+
],
|
| 480 |
+
"names": null
|
| 481 |
+
},
|
| 482 |
+
"task_index": {
|
| 483 |
+
"dtype": "int64",
|
| 484 |
+
"shape": [
|
| 485 |
+
1
|
| 486 |
+
],
|
| 487 |
+
"names": null
|
| 488 |
+
}
|
| 489 |
+
}
|
| 490 |
+
}
|
season_POC22061_2026_06_15_10_15_11_train/lerobotv2.1/meta/modality.json
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
}
|
| 12 |
+
},
|
| 13 |
+
"state": {
|
| 14 |
+
"joints": {
|
| 15 |
+
"start": 0,
|
| 16 |
+
"end": 65,
|
| 17 |
+
"rotation_type": null,
|
| 18 |
+
"absolute": true,
|
| 19 |
+
"dtype": "float32",
|
| 20 |
+
"original_key": "observation.state"
|
| 21 |
+
}
|
| 22 |
+
},
|
| 23 |
+
"action": {
|
| 24 |
+
"joints": {
|
| 25 |
+
"start": 0,
|
| 26 |
+
"end": 65,
|
| 27 |
+
"rotation_type": null,
|
| 28 |
+
"absolute": true,
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"original_key": "action"
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"annotation": {
|
| 34 |
+
"human.action.task_description": {
|
| 35 |
+
"original_key": "task_index"
|
| 36 |
+
}
|
| 37 |
+
}
|
| 38 |
+
}
|
season_POC22061_2026_06_15_10_15_11_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22061_2026_06_15_15_56_02_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_15_15_56_02_train/lerobotv2.1/meta/modality.json
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
}
|
| 12 |
+
},
|
| 13 |
+
"state": {
|
| 14 |
+
"joints": {
|
| 15 |
+
"start": 0,
|
| 16 |
+
"end": 65,
|
| 17 |
+
"rotation_type": null,
|
| 18 |
+
"absolute": true,
|
| 19 |
+
"dtype": "float32",
|
| 20 |
+
"original_key": "observation.state"
|
| 21 |
+
}
|
| 22 |
+
},
|
| 23 |
+
"action": {
|
| 24 |
+
"joints": {
|
| 25 |
+
"start": 0,
|
| 26 |
+
"end": 65,
|
| 27 |
+
"rotation_type": null,
|
| 28 |
+
"absolute": true,
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"original_key": "action"
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"annotation": {
|
| 34 |
+
"human.action.task_description": {
|
| 35 |
+
"original_key": "task_index"
|
| 36 |
+
}
|
| 37 |
+
}
|
| 38 |
+
}
|
season_POC22061_2026_06_15_19_24_12_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 21,
|
| 5 |
+
"total_frames": 95776,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:21"
|
| 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.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
+
"right_hand_j6",
|
| 66 |
+
"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
"right_hand_j14",
|
| 74 |
+
"right_hand_j15",
|
| 75 |
+
"right_hand_j16",
|
| 76 |
+
"right_hand_j17",
|
| 77 |
+
"right_hand_j18",
|
| 78 |
+
"right_hand_j19",
|
| 79 |
+
"right_hand_j20",
|
| 80 |
+
"right_hand_j21",
|
| 81 |
+
"motor_j0",
|
| 82 |
+
"motor_j1",
|
| 83 |
+
"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
+
"motor_j6"
|
| 88 |
+
]
|
| 89 |
+
},
|
| 90 |
+
"observation.state.joint_torque": {
|
| 91 |
+
"dtype": "float32",
|
| 92 |
+
"shape": [
|
| 93 |
+
65
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"left_arm_j0",
|
| 97 |
+
"left_arm_j1",
|
| 98 |
+
"left_arm_j2",
|
| 99 |
+
"left_arm_j3",
|
| 100 |
+
"left_arm_j4",
|
| 101 |
+
"left_arm_j5",
|
| 102 |
+
"left_arm_j6",
|
| 103 |
+
"left_hand_j0",
|
| 104 |
+
"left_hand_j1",
|
| 105 |
+
"left_hand_j2",
|
| 106 |
+
"left_hand_j3",
|
| 107 |
+
"left_hand_j4",
|
| 108 |
+
"left_hand_j5",
|
| 109 |
+
"left_hand_j6",
|
| 110 |
+
"left_hand_j7",
|
| 111 |
+
"left_hand_j8",
|
| 112 |
+
"left_hand_j9",
|
| 113 |
+
"left_hand_j10",
|
| 114 |
+
"left_hand_j11",
|
| 115 |
+
"left_hand_j12",
|
| 116 |
+
"left_hand_j13",
|
| 117 |
+
"left_hand_j14",
|
| 118 |
+
"left_hand_j15",
|
| 119 |
+
"left_hand_j16",
|
| 120 |
+
"left_hand_j17",
|
| 121 |
+
"left_hand_j18",
|
| 122 |
+
"left_hand_j19",
|
| 123 |
+
"left_hand_j20",
|
| 124 |
+
"left_hand_j21",
|
| 125 |
+
"right_arm_j0",
|
| 126 |
+
"right_arm_j1",
|
| 127 |
+
"right_arm_j2",
|
| 128 |
+
"right_arm_j3",
|
| 129 |
+
"right_arm_j4",
|
| 130 |
+
"right_arm_j5",
|
| 131 |
+
"right_arm_j6",
|
| 132 |
+
"right_hand_j0",
|
| 133 |
+
"right_hand_j1",
|
| 134 |
+
"right_hand_j2",
|
| 135 |
+
"right_hand_j3",
|
| 136 |
+
"right_hand_j4",
|
| 137 |
+
"right_hand_j5",
|
| 138 |
+
"right_hand_j6",
|
| 139 |
+
"right_hand_j7",
|
| 140 |
+
"right_hand_j8",
|
| 141 |
+
"right_hand_j9",
|
| 142 |
+
"right_hand_j10",
|
| 143 |
+
"right_hand_j11",
|
| 144 |
+
"right_hand_j12",
|
| 145 |
+
"right_hand_j13",
|
| 146 |
+
"right_hand_j14",
|
| 147 |
+
"right_hand_j15",
|
| 148 |
+
"right_hand_j16",
|
| 149 |
+
"right_hand_j17",
|
| 150 |
+
"right_hand_j18",
|
| 151 |
+
"right_hand_j19",
|
| 152 |
+
"right_hand_j20",
|
| 153 |
+
"right_hand_j21",
|
| 154 |
+
"motor_j0",
|
| 155 |
+
"motor_j1",
|
| 156 |
+
"motor_j2",
|
| 157 |
+
"motor_j3",
|
| 158 |
+
"motor_j4",
|
| 159 |
+
"motor_j5",
|
| 160 |
+
"motor_j6"
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"observation.state.tcp": {
|
| 164 |
+
"dtype": "float32",
|
| 165 |
+
"shape": [
|
| 166 |
+
24
|
| 167 |
+
],
|
| 168 |
+
"names": [
|
| 169 |
+
"left_arm_tcp_pose",
|
| 170 |
+
"left_arm_tcp_forces",
|
| 171 |
+
"right_arm_tcp_pose",
|
| 172 |
+
"right_arm_tcp_forces"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"action": {
|
| 176 |
+
"dtype": "float32",
|
| 177 |
+
"shape": [
|
| 178 |
+
65
|
| 179 |
+
],
|
| 180 |
+
"names": [
|
| 181 |
+
"left_arm_j0",
|
| 182 |
+
"left_arm_j1",
|
| 183 |
+
"left_arm_j2",
|
| 184 |
+
"left_arm_j3",
|
| 185 |
+
"left_arm_j4",
|
| 186 |
+
"left_arm_j5",
|
| 187 |
+
"left_arm_j6",
|
| 188 |
+
"left_hand_j0",
|
| 189 |
+
"left_hand_j1",
|
| 190 |
+
"left_hand_j2",
|
| 191 |
+
"left_hand_j3",
|
| 192 |
+
"left_hand_j4",
|
| 193 |
+
"left_hand_j5",
|
| 194 |
+
"left_hand_j6",
|
| 195 |
+
"left_hand_j7",
|
| 196 |
+
"left_hand_j8",
|
| 197 |
+
"left_hand_j9",
|
| 198 |
+
"left_hand_j10",
|
| 199 |
+
"left_hand_j11",
|
| 200 |
+
"left_hand_j12",
|
| 201 |
+
"left_hand_j13",
|
| 202 |
+
"left_hand_j14",
|
| 203 |
+
"left_hand_j15",
|
| 204 |
+
"left_hand_j16",
|
| 205 |
+
"left_hand_j17",
|
| 206 |
+
"left_hand_j18",
|
| 207 |
+
"left_hand_j19",
|
| 208 |
+
"left_hand_j20",
|
| 209 |
+
"left_hand_j21",
|
| 210 |
+
"right_arm_j0",
|
| 211 |
+
"right_arm_j1",
|
| 212 |
+
"right_arm_j2",
|
| 213 |
+
"right_arm_j3",
|
| 214 |
+
"right_arm_j4",
|
| 215 |
+
"right_arm_j5",
|
| 216 |
+
"right_arm_j6",
|
| 217 |
+
"right_hand_j0",
|
| 218 |
+
"right_hand_j1",
|
| 219 |
+
"right_hand_j2",
|
| 220 |
+
"right_hand_j3",
|
| 221 |
+
"right_hand_j4",
|
| 222 |
+
"right_hand_j5",
|
| 223 |
+
"right_hand_j6",
|
| 224 |
+
"right_hand_j7",
|
| 225 |
+
"right_hand_j8",
|
| 226 |
+
"right_hand_j9",
|
| 227 |
+
"right_hand_j10",
|
| 228 |
+
"right_hand_j11",
|
| 229 |
+
"right_hand_j12",
|
| 230 |
+
"right_hand_j13",
|
| 231 |
+
"right_hand_j14",
|
| 232 |
+
"right_hand_j15",
|
| 233 |
+
"right_hand_j16",
|
| 234 |
+
"right_hand_j17",
|
| 235 |
+
"right_hand_j18",
|
| 236 |
+
"right_hand_j19",
|
| 237 |
+
"right_hand_j20",
|
| 238 |
+
"right_hand_j21",
|
| 239 |
+
"motor_j0",
|
| 240 |
+
"motor_j1",
|
| 241 |
+
"motor_j2",
|
| 242 |
+
"motor_j3",
|
| 243 |
+
"motor_j4",
|
| 244 |
+
"motor_j5",
|
| 245 |
+
"motor_j6"
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
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|
| 249 |
+
"dtype": "video",
|
| 250 |
+
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|
| 251 |
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480,
|
| 252 |
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480,
|
| 253 |
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3
|
| 254 |
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],
|
| 255 |
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|
| 256 |
+
"height",
|
| 257 |
+
"width",
|
| 258 |
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|
| 259 |
+
],
|
| 260 |
+
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|
| 261 |
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|
| 262 |
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|
| 263 |
+
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|
| 264 |
+
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|
| 265 |
+
"video.is_depth_map": false,
|
| 266 |
+
"video.fps": 30,
|
| 267 |
+
"video.channels": 3,
|
| 268 |
+
"has_audio": false
|
| 269 |
+
}
|
| 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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480,
|
| 275 |
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480,
|
| 276 |
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3
|
| 277 |
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],
|
| 278 |
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|
| 279 |
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|
| 280 |
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"width",
|
| 281 |
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|
| 282 |
+
],
|
| 283 |
+
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|
| 284 |
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|
| 285 |
+
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|
| 286 |
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|
| 287 |
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|
| 288 |
+
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|
| 289 |
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|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
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|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
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480,
|
| 298 |
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480,
|
| 299 |
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3
|
| 300 |
+
],
|
| 301 |
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"names": [
|
| 302 |
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"height",
|
| 303 |
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"width",
|
| 304 |
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|
| 305 |
+
],
|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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}
|
| 316 |
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},
|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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480,
|
| 321 |
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480,
|
| 322 |
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3
|
| 323 |
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],
|
| 324 |
+
"names": [
|
| 325 |
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"height",
|
| 326 |
+
"width",
|
| 327 |
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"channels"
|
| 328 |
+
],
|
| 329 |
+
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|
| 330 |
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|
| 331 |
+
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|
| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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|
| 337 |
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"has_audio": false
|
| 338 |
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}
|
| 339 |
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},
|
| 340 |
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|
| 341 |
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"dtype": "float32",
|
| 342 |
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"shape": [
|
| 343 |
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60
|
| 344 |
+
],
|
| 345 |
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"names": [
|
| 346 |
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"left_thumb_fx",
|
| 347 |
+
"left_thumb_fy",
|
| 348 |
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"left_thumb_fz",
|
| 349 |
+
"left_thumb_tx",
|
| 350 |
+
"left_thumb_ty",
|
| 351 |
+
"left_thumb_tz",
|
| 352 |
+
"left_index_fx",
|
| 353 |
+
"left_index_fy",
|
| 354 |
+
"left_index_fz",
|
| 355 |
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"left_index_tx",
|
| 356 |
+
"left_index_ty",
|
| 357 |
+
"left_index_tz",
|
| 358 |
+
"left_middle_fx",
|
| 359 |
+
"left_middle_fy",
|
| 360 |
+
"left_middle_fz",
|
| 361 |
+
"left_middle_tx",
|
| 362 |
+
"left_middle_ty",
|
| 363 |
+
"left_middle_tz",
|
| 364 |
+
"left_ring_fx",
|
| 365 |
+
"left_ring_fy",
|
| 366 |
+
"left_ring_fz",
|
| 367 |
+
"left_ring_tx",
|
| 368 |
+
"left_ring_ty",
|
| 369 |
+
"left_ring_tz",
|
| 370 |
+
"left_little_fx",
|
| 371 |
+
"left_little_fy",
|
| 372 |
+
"left_little_fz",
|
| 373 |
+
"left_little_tx",
|
| 374 |
+
"left_little_ty",
|
| 375 |
+
"left_little_tz",
|
| 376 |
+
"right_thumb_fx",
|
| 377 |
+
"right_thumb_fy",
|
| 378 |
+
"right_thumb_fz",
|
| 379 |
+
"right_thumb_tx",
|
| 380 |
+
"right_thumb_ty",
|
| 381 |
+
"right_thumb_tz",
|
| 382 |
+
"right_index_fx",
|
| 383 |
+
"right_index_fy",
|
| 384 |
+
"right_index_fz",
|
| 385 |
+
"right_index_tx",
|
| 386 |
+
"right_index_ty",
|
| 387 |
+
"right_index_tz",
|
| 388 |
+
"right_middle_fx",
|
| 389 |
+
"right_middle_fy",
|
| 390 |
+
"right_middle_fz",
|
| 391 |
+
"right_middle_tx",
|
| 392 |
+
"right_middle_ty",
|
| 393 |
+
"right_middle_tz",
|
| 394 |
+
"right_ring_fx",
|
| 395 |
+
"right_ring_fy",
|
| 396 |
+
"right_ring_fz",
|
| 397 |
+
"right_ring_tx",
|
| 398 |
+
"right_ring_ty",
|
| 399 |
+
"right_ring_tz",
|
| 400 |
+
"right_little_fx",
|
| 401 |
+
"right_little_fy",
|
| 402 |
+
"right_little_fz",
|
| 403 |
+
"right_little_tx",
|
| 404 |
+
"right_little_ty",
|
| 405 |
+
"right_little_tz"
|
| 406 |
+
]
|
| 407 |
+
},
|
| 408 |
+
"observation.images.tactile_deform": {
|
| 409 |
+
"dtype": "video",
|
| 410 |
+
"shape": [
|
| 411 |
+
480,
|
| 412 |
+
1200,
|
| 413 |
+
3
|
| 414 |
+
],
|
| 415 |
+
"names": [
|
| 416 |
+
"height",
|
| 417 |
+
"width",
|
| 418 |
+
"channels"
|
| 419 |
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],
|
| 420 |
+
"info": {
|
| 421 |
+
"video.height": 480,
|
| 422 |
+
"video.width": 1200,
|
| 423 |
+
"video.codec": "h264",
|
| 424 |
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"video.pix_fmt": "yuv420p",
|
| 425 |
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"video.is_depth_map": false,
|
| 426 |
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"video.fps": 30,
|
| 427 |
+
"video.channels": 3,
|
| 428 |
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"has_audio": false
|
| 429 |
+
}
|
| 430 |
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},
|
| 431 |
+
"observation.images.tactile_raw": {
|
| 432 |
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"dtype": "video",
|
| 433 |
+
"shape": [
|
| 434 |
+
480,
|
| 435 |
+
1600,
|
| 436 |
+
3
|
| 437 |
+
],
|
| 438 |
+
"names": [
|
| 439 |
+
"height",
|
| 440 |
+
"width",
|
| 441 |
+
"channels"
|
| 442 |
+
],
|
| 443 |
+
"info": {
|
| 444 |
+
"video.height": 480,
|
| 445 |
+
"video.width": 1600,
|
| 446 |
+
"video.codec": "h264",
|
| 447 |
+
"video.pix_fmt": "yuv420p",
|
| 448 |
+
"video.is_depth_map": false,
|
| 449 |
+
"video.fps": 30,
|
| 450 |
+
"video.channels": 3,
|
| 451 |
+
"has_audio": false
|
| 452 |
+
}
|
| 453 |
+
},
|
| 454 |
+
"timestamp": {
|
| 455 |
+
"dtype": "float32",
|
| 456 |
+
"shape": [
|
| 457 |
+
1
|
| 458 |
+
],
|
| 459 |
+
"names": null
|
| 460 |
+
},
|
| 461 |
+
"frame_index": {
|
| 462 |
+
"dtype": "int64",
|
| 463 |
+
"shape": [
|
| 464 |
+
1
|
| 465 |
+
],
|
| 466 |
+
"names": null
|
| 467 |
+
},
|
| 468 |
+
"episode_index": {
|
| 469 |
+
"dtype": "int64",
|
| 470 |
+
"shape": [
|
| 471 |
+
1
|
| 472 |
+
],
|
| 473 |
+
"names": null
|
| 474 |
+
},
|
| 475 |
+
"index": {
|
| 476 |
+
"dtype": "int64",
|
| 477 |
+
"shape": [
|
| 478 |
+
1
|
| 479 |
+
],
|
| 480 |
+
"names": null
|
| 481 |
+
},
|
| 482 |
+
"task_index": {
|
| 483 |
+
"dtype": "int64",
|
| 484 |
+
"shape": [
|
| 485 |
+
1
|
| 486 |
+
],
|
| 487 |
+
"names": null
|
| 488 |
+
}
|
| 489 |
+
}
|
| 490 |
+
}
|
season_POC22061_2026_06_15_19_24_12_train/lerobot3.0/meta/modality.json
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
},
|
| 12 |
+
"head_right": {
|
| 13 |
+
"original_key": "observation.images.head_right"
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"state": {
|
| 17 |
+
"joints": {
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 65,
|
| 20 |
+
"rotation_type": null,
|
| 21 |
+
"absolute": true,
|
| 22 |
+
"dtype": "float32",
|
| 23 |
+
"original_key": "observation.state"
|
| 24 |
+
}
|
| 25 |
+
},
|
| 26 |
+
"action": {
|
| 27 |
+
"joints": {
|
| 28 |
+
"start": 0,
|
| 29 |
+
"end": 65,
|
| 30 |
+
"rotation_type": null,
|
| 31 |
+
"absolute": true,
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"original_key": "action"
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"annotation": {
|
| 37 |
+
"human.action.task_description": {
|
| 38 |
+
"original_key": "task_index"
|
| 39 |
+
}
|
| 40 |
+
}
|
| 41 |
+
}
|
season_POC22061_2026_06_15_19_24_12_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_15_19_24_12_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 5098}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 6435}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 4372}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 4566}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 5061}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 5352}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 4416}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 3763}
|
| 9 |
+
{"episode_index": 8, "tasks": ["north ces task"], "length": 4272}
|
| 10 |
+
{"episode_index": 9, "tasks": ["north ces task"], "length": 3846}
|
| 11 |
+
{"episode_index": 10, "tasks": ["north ces task"], "length": 6462}
|
| 12 |
+
{"episode_index": 11, "tasks": ["north ces task"], "length": 3690}
|
| 13 |
+
{"episode_index": 12, "tasks": ["north ces task"], "length": 4885}
|
| 14 |
+
{"episode_index": 13, "tasks": ["north ces task"], "length": 3999}
|
| 15 |
+
{"episode_index": 14, "tasks": ["north ces task"], "length": 3893}
|
| 16 |
+
{"episode_index": 15, "tasks": ["north ces task"], "length": 5375}
|
| 17 |
+
{"episode_index": 16, "tasks": ["north ces task"], "length": 4432}
|
| 18 |
+
{"episode_index": 17, "tasks": ["north ces task"], "length": 4505}
|
| 19 |
+
{"episode_index": 18, "tasks": ["north ces task"], "length": 3927}
|
| 20 |
+
{"episode_index": 19, "tasks": ["north ces task"], "length": 3777}
|
| 21 |
+
{"episode_index": 20, "tasks": ["north ces task"], "length": 3650}
|
season_POC22061_2026_06_15_19_24_12_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_15_19_24_12_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 21,
|
| 5 |
+
"total_frames": 95776,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 126,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:21"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
+
"right_hand_j6",
|
| 66 |
+
"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
"right_hand_j14",
|
| 74 |
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"right_hand_j15",
|
| 75 |
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"right_hand_j16",
|
| 76 |
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"right_hand_j17",
|
| 77 |
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"right_hand_j18",
|
| 78 |
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"right_hand_j19",
|
| 79 |
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"right_hand_j20",
|
| 80 |
+
"right_hand_j21",
|
| 81 |
+
"motor_j0",
|
| 82 |
+
"motor_j1",
|
| 83 |
+
"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
+
"motor_j6"
|
| 88 |
+
]
|
| 89 |
+
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|
| 90 |
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|
| 91 |
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"dtype": "float32",
|
| 92 |
+
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|
| 93 |
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65
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
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"left_arm_j0",
|
| 97 |
+
"left_arm_j1",
|
| 98 |
+
"left_arm_j2",
|
| 99 |
+
"left_arm_j3",
|
| 100 |
+
"left_arm_j4",
|
| 101 |
+
"left_arm_j5",
|
| 102 |
+
"left_arm_j6",
|
| 103 |
+
"left_hand_j0",
|
| 104 |
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"left_hand_j1",
|
| 105 |
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"left_hand_j2",
|
| 106 |
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"left_hand_j3",
|
| 107 |
+
"left_hand_j4",
|
| 108 |
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"left_hand_j5",
|
| 109 |
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"left_hand_j6",
|
| 110 |
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"left_hand_j7",
|
| 111 |
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"left_hand_j8",
|
| 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 |
+
"left_hand_j16",
|
| 120 |
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"left_hand_j17",
|
| 121 |
+
"left_hand_j18",
|
| 122 |
+
"left_hand_j19",
|
| 123 |
+
"left_hand_j20",
|
| 124 |
+
"left_hand_j21",
|
| 125 |
+
"right_arm_j0",
|
| 126 |
+
"right_arm_j1",
|
| 127 |
+
"right_arm_j2",
|
| 128 |
+
"right_arm_j3",
|
| 129 |
+
"right_arm_j4",
|
| 130 |
+
"right_arm_j5",
|
| 131 |
+
"right_arm_j6",
|
| 132 |
+
"right_hand_j0",
|
| 133 |
+
"right_hand_j1",
|
| 134 |
+
"right_hand_j2",
|
| 135 |
+
"right_hand_j3",
|
| 136 |
+
"right_hand_j4",
|
| 137 |
+
"right_hand_j5",
|
| 138 |
+
"right_hand_j6",
|
| 139 |
+
"right_hand_j7",
|
| 140 |
+
"right_hand_j8",
|
| 141 |
+
"right_hand_j9",
|
| 142 |
+
"right_hand_j10",
|
| 143 |
+
"right_hand_j11",
|
| 144 |
+
"right_hand_j12",
|
| 145 |
+
"right_hand_j13",
|
| 146 |
+
"right_hand_j14",
|
| 147 |
+
"right_hand_j15",
|
| 148 |
+
"right_hand_j16",
|
| 149 |
+
"right_hand_j17",
|
| 150 |
+
"right_hand_j18",
|
| 151 |
+
"right_hand_j19",
|
| 152 |
+
"right_hand_j20",
|
| 153 |
+
"right_hand_j21",
|
| 154 |
+
"motor_j0",
|
| 155 |
+
"motor_j1",
|
| 156 |
+
"motor_j2",
|
| 157 |
+
"motor_j3",
|
| 158 |
+
"motor_j4",
|
| 159 |
+
"motor_j5",
|
| 160 |
+
"motor_j6"
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"observation.state.tcp": {
|
| 164 |
+
"dtype": "float32",
|
| 165 |
+
"shape": [
|
| 166 |
+
24
|
| 167 |
+
],
|
| 168 |
+
"names": [
|
| 169 |
+
"left_arm_tcp_pose",
|
| 170 |
+
"left_arm_tcp_forces",
|
| 171 |
+
"right_arm_tcp_pose",
|
| 172 |
+
"right_arm_tcp_forces"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"action": {
|
| 176 |
+
"dtype": "float32",
|
| 177 |
+
"shape": [
|
| 178 |
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65
|
| 179 |
+
],
|
| 180 |
+
"names": [
|
| 181 |
+
"left_arm_j0",
|
| 182 |
+
"left_arm_j1",
|
| 183 |
+
"left_arm_j2",
|
| 184 |
+
"left_arm_j3",
|
| 185 |
+
"left_arm_j4",
|
| 186 |
+
"left_arm_j5",
|
| 187 |
+
"left_arm_j6",
|
| 188 |
+
"left_hand_j0",
|
| 189 |
+
"left_hand_j1",
|
| 190 |
+
"left_hand_j2",
|
| 191 |
+
"left_hand_j3",
|
| 192 |
+
"left_hand_j4",
|
| 193 |
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"left_hand_j5",
|
| 194 |
+
"left_hand_j6",
|
| 195 |
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"left_hand_j7",
|
| 196 |
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"left_hand_j8",
|
| 197 |
+
"left_hand_j9",
|
| 198 |
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"left_hand_j10",
|
| 199 |
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"left_hand_j11",
|
| 200 |
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|
| 201 |
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"left_hand_j13",
|
| 202 |
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"left_hand_j14",
|
| 203 |
+
"left_hand_j15",
|
| 204 |
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"left_hand_j16",
|
| 205 |
+
"left_hand_j17",
|
| 206 |
+
"left_hand_j18",
|
| 207 |
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"left_hand_j19",
|
| 208 |
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"left_hand_j20",
|
| 209 |
+
"left_hand_j21",
|
| 210 |
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"right_arm_j0",
|
| 211 |
+
"right_arm_j1",
|
| 212 |
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"right_arm_j2",
|
| 213 |
+
"right_arm_j3",
|
| 214 |
+
"right_arm_j4",
|
| 215 |
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"right_arm_j5",
|
| 216 |
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|
| 217 |
+
"right_hand_j0",
|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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"right_hand_j20",
|
| 238 |
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"right_hand_j21",
|
| 239 |
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"motor_j0",
|
| 240 |
+
"motor_j1",
|
| 241 |
+
"motor_j2",
|
| 242 |
+
"motor_j3",
|
| 243 |
+
"motor_j4",
|
| 244 |
+
"motor_j5",
|
| 245 |
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"motor_j6"
|
| 246 |
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]
|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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| 251 |
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|
| 252 |
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| 254 |
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| 255 |
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| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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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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| 278 |
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| 280 |
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| 281 |
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|
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
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|
| 295 |
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|
| 296 |
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| 297 |
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480,
|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 303 |
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|
| 304 |
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|
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|
| 306 |
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|
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|
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|
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|
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|
| 311 |
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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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|
| 324 |
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|
| 326 |
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|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
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|
| 333 |
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|
| 334 |
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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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| 342 |
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|
| 344 |
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],
|
| 345 |
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| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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|
| 354 |
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|
| 355 |
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|
| 356 |
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|
| 357 |
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|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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|
| 362 |
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|
| 363 |
+
"left_middle_tz",
|
| 364 |
+
"left_ring_fx",
|
| 365 |
+
"left_ring_fy",
|
| 366 |
+
"left_ring_fz",
|
| 367 |
+
"left_ring_tx",
|
| 368 |
+
"left_ring_ty",
|
| 369 |
+
"left_ring_tz",
|
| 370 |
+
"left_little_fx",
|
| 371 |
+
"left_little_fy",
|
| 372 |
+
"left_little_fz",
|
| 373 |
+
"left_little_tx",
|
| 374 |
+
"left_little_ty",
|
| 375 |
+
"left_little_tz",
|
| 376 |
+
"right_thumb_fx",
|
| 377 |
+
"right_thumb_fy",
|
| 378 |
+
"right_thumb_fz",
|
| 379 |
+
"right_thumb_tx",
|
| 380 |
+
"right_thumb_ty",
|
| 381 |
+
"right_thumb_tz",
|
| 382 |
+
"right_index_fx",
|
| 383 |
+
"right_index_fy",
|
| 384 |
+
"right_index_fz",
|
| 385 |
+
"right_index_tx",
|
| 386 |
+
"right_index_ty",
|
| 387 |
+
"right_index_tz",
|
| 388 |
+
"right_middle_fx",
|
| 389 |
+
"right_middle_fy",
|
| 390 |
+
"right_middle_fz",
|
| 391 |
+
"right_middle_tx",
|
| 392 |
+
"right_middle_ty",
|
| 393 |
+
"right_middle_tz",
|
| 394 |
+
"right_ring_fx",
|
| 395 |
+
"right_ring_fy",
|
| 396 |
+
"right_ring_fz",
|
| 397 |
+
"right_ring_tx",
|
| 398 |
+
"right_ring_ty",
|
| 399 |
+
"right_ring_tz",
|
| 400 |
+
"right_little_fx",
|
| 401 |
+
"right_little_fy",
|
| 402 |
+
"right_little_fz",
|
| 403 |
+
"right_little_tx",
|
| 404 |
+
"right_little_ty",
|
| 405 |
+
"right_little_tz"
|
| 406 |
+
]
|
| 407 |
+
},
|
| 408 |
+
"observation.images.tactile_deform": {
|
| 409 |
+
"dtype": "video",
|
| 410 |
+
"shape": [
|
| 411 |
+
480,
|
| 412 |
+
1200,
|
| 413 |
+
3
|
| 414 |
+
],
|
| 415 |
+
"names": [
|
| 416 |
+
"height",
|
| 417 |
+
"width",
|
| 418 |
+
"channels"
|
| 419 |
+
],
|
| 420 |
+
"info": {
|
| 421 |
+
"video.height": 480,
|
| 422 |
+
"video.width": 1200,
|
| 423 |
+
"video.codec": "h264",
|
| 424 |
+
"video.pix_fmt": "yuv420p",
|
| 425 |
+
"video.is_depth_map": false,
|
| 426 |
+
"video.fps": 30,
|
| 427 |
+
"video.channels": 3,
|
| 428 |
+
"has_audio": false
|
| 429 |
+
}
|
| 430 |
+
},
|
| 431 |
+
"observation.images.tactile_raw": {
|
| 432 |
+
"dtype": "video",
|
| 433 |
+
"shape": [
|
| 434 |
+
480,
|
| 435 |
+
1600,
|
| 436 |
+
3
|
| 437 |
+
],
|
| 438 |
+
"names": [
|
| 439 |
+
"height",
|
| 440 |
+
"width",
|
| 441 |
+
"channels"
|
| 442 |
+
],
|
| 443 |
+
"info": {
|
| 444 |
+
"video.height": 480,
|
| 445 |
+
"video.width": 1600,
|
| 446 |
+
"video.codec": "h264",
|
| 447 |
+
"video.pix_fmt": "yuv420p",
|
| 448 |
+
"video.is_depth_map": false,
|
| 449 |
+
"video.fps": 30,
|
| 450 |
+
"video.channels": 3,
|
| 451 |
+
"has_audio": false
|
| 452 |
+
}
|
| 453 |
+
},
|
| 454 |
+
"timestamp": {
|
| 455 |
+
"dtype": "float32",
|
| 456 |
+
"shape": [
|
| 457 |
+
1
|
| 458 |
+
],
|
| 459 |
+
"names": null
|
| 460 |
+
},
|
| 461 |
+
"frame_index": {
|
| 462 |
+
"dtype": "int64",
|
| 463 |
+
"shape": [
|
| 464 |
+
1
|
| 465 |
+
],
|
| 466 |
+
"names": null
|
| 467 |
+
},
|
| 468 |
+
"episode_index": {
|
| 469 |
+
"dtype": "int64",
|
| 470 |
+
"shape": [
|
| 471 |
+
1
|
| 472 |
+
],
|
| 473 |
+
"names": null
|
| 474 |
+
},
|
| 475 |
+
"index": {
|
| 476 |
+
"dtype": "int64",
|
| 477 |
+
"shape": [
|
| 478 |
+
1
|
| 479 |
+
],
|
| 480 |
+
"names": null
|
| 481 |
+
},
|
| 482 |
+
"task_index": {
|
| 483 |
+
"dtype": "int64",
|
| 484 |
+
"shape": [
|
| 485 |
+
1
|
| 486 |
+
],
|
| 487 |
+
"names": null
|
| 488 |
+
}
|
| 489 |
+
}
|
| 490 |
+
}
|
season_POC22061_2026_06_15_19_24_12_train/lerobotv2.1/meta/modality.json
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
}
|
| 12 |
+
},
|
| 13 |
+
"state": {
|
| 14 |
+
"joints": {
|
| 15 |
+
"start": 0,
|
| 16 |
+
"end": 65,
|
| 17 |
+
"rotation_type": null,
|
| 18 |
+
"absolute": true,
|
| 19 |
+
"dtype": "float32",
|
| 20 |
+
"original_key": "observation.state"
|
| 21 |
+
}
|
| 22 |
+
},
|
| 23 |
+
"action": {
|
| 24 |
+
"joints": {
|
| 25 |
+
"start": 0,
|
| 26 |
+
"end": 65,
|
| 27 |
+
"rotation_type": null,
|
| 28 |
+
"absolute": true,
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"original_key": "action"
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"annotation": {
|
| 34 |
+
"human.action.task_description": {
|
| 35 |
+
"original_key": "task_index"
|
| 36 |
+
}
|
| 37 |
+
}
|
| 38 |
+
}
|
season_POC22061_2026_06_15_19_24_12_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22061_2026_06_16_10_36_10_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 9,
|
| 5 |
+
"total_frames": 37449,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:9"
|
| 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.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
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65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
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"right_hand_j6",
|
| 66 |
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"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
"right_hand_j14",
|
| 74 |
+
"right_hand_j15",
|
| 75 |
+
"right_hand_j16",
|
| 76 |
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"right_hand_j17",
|
| 77 |
+
"right_hand_j18",
|
| 78 |
+
"right_hand_j19",
|
| 79 |
+
"right_hand_j20",
|
| 80 |
+
"right_hand_j21",
|
| 81 |
+
"motor_j0",
|
| 82 |
+
"motor_j1",
|
| 83 |
+
"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
+
"motor_j6"
|
| 88 |
+
]
|
| 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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65
|
| 94 |
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],
|
| 95 |
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|
| 96 |
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"left_arm_j0",
|
| 97 |
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"left_arm_j1",
|
| 98 |
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"left_arm_j2",
|
| 99 |
+
"left_arm_j3",
|
| 100 |
+
"left_arm_j4",
|
| 101 |
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"left_arm_j5",
|
| 102 |
+
"left_arm_j6",
|
| 103 |
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"left_hand_j0",
|
| 104 |
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"left_hand_j1",
|
| 105 |
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"left_hand_j2",
|
| 106 |
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"left_hand_j3",
|
| 107 |
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"left_hand_j4",
|
| 108 |
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"left_hand_j5",
|
| 109 |
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"left_hand_j6",
|
| 110 |
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"left_hand_j7",
|
| 111 |
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"left_hand_j8",
|
| 112 |
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"left_hand_j9",
|
| 113 |
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"left_hand_j10",
|
| 114 |
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"left_hand_j11",
|
| 115 |
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"left_hand_j12",
|
| 116 |
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"left_hand_j13",
|
| 117 |
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"left_hand_j14",
|
| 118 |
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"left_hand_j15",
|
| 119 |
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"left_hand_j16",
|
| 120 |
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"left_hand_j17",
|
| 121 |
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"left_hand_j18",
|
| 122 |
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"left_hand_j19",
|
| 123 |
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"left_hand_j20",
|
| 124 |
+
"left_hand_j21",
|
| 125 |
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"right_arm_j0",
|
| 126 |
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"right_arm_j1",
|
| 127 |
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"right_arm_j2",
|
| 128 |
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"right_arm_j3",
|
| 129 |
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"right_arm_j4",
|
| 130 |
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"right_arm_j5",
|
| 131 |
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"right_arm_j6",
|
| 132 |
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"right_hand_j0",
|
| 133 |
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|
| 134 |
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"right_hand_j2",
|
| 135 |
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"right_hand_j3",
|
| 136 |
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"right_hand_j4",
|
| 137 |
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"right_hand_j5",
|
| 138 |
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"right_hand_j6",
|
| 139 |
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"right_hand_j7",
|
| 140 |
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"right_hand_j8",
|
| 141 |
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"right_hand_j9",
|
| 142 |
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"right_hand_j10",
|
| 143 |
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"right_hand_j11",
|
| 144 |
+
"right_hand_j12",
|
| 145 |
+
"right_hand_j13",
|
| 146 |
+
"right_hand_j14",
|
| 147 |
+
"right_hand_j15",
|
| 148 |
+
"right_hand_j16",
|
| 149 |
+
"right_hand_j17",
|
| 150 |
+
"right_hand_j18",
|
| 151 |
+
"right_hand_j19",
|
| 152 |
+
"right_hand_j20",
|
| 153 |
+
"right_hand_j21",
|
| 154 |
+
"motor_j0",
|
| 155 |
+
"motor_j1",
|
| 156 |
+
"motor_j2",
|
| 157 |
+
"motor_j3",
|
| 158 |
+
"motor_j4",
|
| 159 |
+
"motor_j5",
|
| 160 |
+
"motor_j6"
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
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|
| 164 |
+
"dtype": "float32",
|
| 165 |
+
"shape": [
|
| 166 |
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24
|
| 167 |
+
],
|
| 168 |
+
"names": [
|
| 169 |
+
"left_arm_tcp_pose",
|
| 170 |
+
"left_arm_tcp_forces",
|
| 171 |
+
"right_arm_tcp_pose",
|
| 172 |
+
"right_arm_tcp_forces"
|
| 173 |
+
]
|
| 174 |
+
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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65
|
| 179 |
+
],
|
| 180 |
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|
| 181 |
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"left_arm_j0",
|
| 182 |
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"left_arm_j1",
|
| 183 |
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"left_arm_j2",
|
| 184 |
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"left_arm_j3",
|
| 185 |
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"left_arm_j4",
|
| 186 |
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"left_arm_j5",
|
| 187 |
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"left_arm_j6",
|
| 188 |
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"left_hand_j0",
|
| 189 |
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"left_hand_j1",
|
| 190 |
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"left_hand_j2",
|
| 191 |
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"left_hand_j3",
|
| 192 |
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"left_hand_j4",
|
| 193 |
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"left_hand_j5",
|
| 194 |
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"left_hand_j6",
|
| 195 |
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"left_hand_j7",
|
| 196 |
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"left_hand_j8",
|
| 197 |
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"left_hand_j9",
|
| 198 |
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"left_hand_j10",
|
| 199 |
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"left_hand_j11",
|
| 200 |
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"left_hand_j12",
|
| 201 |
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|
| 202 |
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"left_hand_j14",
|
| 203 |
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"left_hand_j15",
|
| 204 |
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"left_hand_j16",
|
| 205 |
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"left_hand_j17",
|
| 206 |
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"left_hand_j18",
|
| 207 |
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"left_hand_j19",
|
| 208 |
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"left_hand_j20",
|
| 209 |
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"left_hand_j21",
|
| 210 |
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"right_arm_j0",
|
| 211 |
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"right_arm_j1",
|
| 212 |
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"right_arm_j2",
|
| 213 |
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"right_arm_j3",
|
| 214 |
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"right_arm_j4",
|
| 215 |
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"right_arm_j5",
|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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"right_hand_j3",
|
| 221 |
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"right_hand_j4",
|
| 222 |
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"right_hand_j5",
|
| 223 |
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"right_hand_j6",
|
| 224 |
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"right_hand_j7",
|
| 225 |
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"right_hand_j8",
|
| 226 |
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"right_hand_j9",
|
| 227 |
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"right_hand_j10",
|
| 228 |
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"right_hand_j11",
|
| 229 |
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"right_hand_j12",
|
| 230 |
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"right_hand_j13",
|
| 231 |
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"right_hand_j14",
|
| 232 |
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"right_hand_j15",
|
| 233 |
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"right_hand_j16",
|
| 234 |
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"right_hand_j17",
|
| 235 |
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"right_hand_j18",
|
| 236 |
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"right_hand_j19",
|
| 237 |
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"right_hand_j20",
|
| 238 |
+
"right_hand_j21",
|
| 239 |
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"motor_j0",
|
| 240 |
+
"motor_j1",
|
| 241 |
+
"motor_j2",
|
| 242 |
+
"motor_j3",
|
| 243 |
+
"motor_j4",
|
| 244 |
+
"motor_j5",
|
| 245 |
+
"motor_j6"
|
| 246 |
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]
|
| 247 |
+
},
|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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480,
|
| 253 |
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3
|
| 254 |
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],
|
| 255 |
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| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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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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480,
|
| 275 |
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480,
|
| 276 |
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3
|
| 277 |
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|
| 278 |
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| 279 |
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|
| 280 |
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"width",
|
| 281 |
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|
| 282 |
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],
|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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}
|
| 293 |
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},
|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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480,
|
| 298 |
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480,
|
| 299 |
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3
|
| 300 |
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],
|
| 301 |
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|
| 302 |
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"height",
|
| 303 |
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"width",
|
| 304 |
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|
| 305 |
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],
|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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}
|
| 316 |
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},
|
| 317 |
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|
| 318 |
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|
| 319 |
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| 320 |
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480,
|
| 321 |
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480,
|
| 322 |
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3
|
| 323 |
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],
|
| 324 |
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|
| 325 |
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"height",
|
| 326 |
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"width",
|
| 327 |
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"channels"
|
| 328 |
+
],
|
| 329 |
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"info": {
|
| 330 |
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"video.height": 480,
|
| 331 |
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"video.width": 480,
|
| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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|
| 337 |
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"has_audio": false
|
| 338 |
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}
|
| 339 |
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},
|
| 340 |
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|
| 341 |
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"dtype": "float32",
|
| 342 |
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|
| 343 |
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60
|
| 344 |
+
],
|
| 345 |
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"names": [
|
| 346 |
+
"left_thumb_fx",
|
| 347 |
+
"left_thumb_fy",
|
| 348 |
+
"left_thumb_fz",
|
| 349 |
+
"left_thumb_tx",
|
| 350 |
+
"left_thumb_ty",
|
| 351 |
+
"left_thumb_tz",
|
| 352 |
+
"left_index_fx",
|
| 353 |
+
"left_index_fy",
|
| 354 |
+
"left_index_fz",
|
| 355 |
+
"left_index_tx",
|
| 356 |
+
"left_index_ty",
|
| 357 |
+
"left_index_tz",
|
| 358 |
+
"left_middle_fx",
|
| 359 |
+
"left_middle_fy",
|
| 360 |
+
"left_middle_fz",
|
| 361 |
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"left_middle_tx",
|
| 362 |
+
"left_middle_ty",
|
| 363 |
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"left_middle_tz",
|
| 364 |
+
"left_ring_fx",
|
| 365 |
+
"left_ring_fy",
|
| 366 |
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"left_ring_fz",
|
| 367 |
+
"left_ring_tx",
|
| 368 |
+
"left_ring_ty",
|
| 369 |
+
"left_ring_tz",
|
| 370 |
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"left_little_fx",
|
| 371 |
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"left_little_fy",
|
| 372 |
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"left_little_fz",
|
| 373 |
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"left_little_tx",
|
| 374 |
+
"left_little_ty",
|
| 375 |
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"left_little_tz",
|
| 376 |
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"right_thumb_fx",
|
| 377 |
+
"right_thumb_fy",
|
| 378 |
+
"right_thumb_fz",
|
| 379 |
+
"right_thumb_tx",
|
| 380 |
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"right_thumb_ty",
|
| 381 |
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"right_thumb_tz",
|
| 382 |
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"right_index_fx",
|
| 383 |
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"right_index_fy",
|
| 384 |
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"right_index_fz",
|
| 385 |
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"right_index_tx",
|
| 386 |
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"right_index_ty",
|
| 387 |
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"right_index_tz",
|
| 388 |
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"right_middle_fx",
|
| 389 |
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"right_middle_fy",
|
| 390 |
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"right_middle_fz",
|
| 391 |
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"right_middle_tx",
|
| 392 |
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"right_middle_ty",
|
| 393 |
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"right_middle_tz",
|
| 394 |
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"right_ring_fx",
|
| 395 |
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"right_ring_fy",
|
| 396 |
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"right_ring_fz",
|
| 397 |
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"right_ring_tx",
|
| 398 |
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"right_ring_ty",
|
| 399 |
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"right_ring_tz",
|
| 400 |
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"right_little_fx",
|
| 401 |
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"right_little_fy",
|
| 402 |
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"right_little_fz",
|
| 403 |
+
"right_little_tx",
|
| 404 |
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"right_little_ty",
|
| 405 |
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"right_little_tz"
|
| 406 |
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]
|
| 407 |
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},
|
| 408 |
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|
| 409 |
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|
| 410 |
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| 411 |
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480,
|
| 412 |
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1200,
|
| 413 |
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3
|
| 414 |
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],
|
| 415 |
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| 416 |
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"height",
|
| 417 |
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"width",
|
| 418 |
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|
| 419 |
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],
|
| 420 |
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|
| 421 |
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|
| 422 |
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|
| 423 |
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|
| 424 |
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"video.pix_fmt": "yuv420p",
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| 425 |
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| 426 |
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| 427 |
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"video.channels": 3,
|
| 428 |
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| 429 |
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|
| 430 |
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| 431 |
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"observation.images.tactile_raw": {
|
| 432 |
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"dtype": "video",
|
| 433 |
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|
| 434 |
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480,
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| 435 |
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1600,
|
| 436 |
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3
|
| 437 |
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],
|
| 438 |
+
"names": [
|
| 439 |
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"height",
|
| 440 |
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"width",
|
| 441 |
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"channels"
|
| 442 |
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],
|
| 443 |
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"info": {
|
| 444 |
+
"video.height": 480,
|
| 445 |
+
"video.width": 1600,
|
| 446 |
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"video.codec": "h264",
|
| 447 |
+
"video.pix_fmt": "yuv420p",
|
| 448 |
+
"video.is_depth_map": false,
|
| 449 |
+
"video.fps": 30,
|
| 450 |
+
"video.channels": 3,
|
| 451 |
+
"has_audio": false
|
| 452 |
+
}
|
| 453 |
+
},
|
| 454 |
+
"timestamp": {
|
| 455 |
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"dtype": "float32",
|
| 456 |
+
"shape": [
|
| 457 |
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1
|
| 458 |
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|
| 459 |
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"names": null
|
| 460 |
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},
|
| 461 |
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"frame_index": {
|
| 462 |
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|
| 463 |
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|
| 464 |
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1
|
| 465 |
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|
| 466 |
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"names": null
|
| 467 |
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|
| 468 |
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"episode_index": {
|
| 469 |
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"dtype": "int64",
|
| 470 |
+
"shape": [
|
| 471 |
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1
|
| 472 |
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],
|
| 473 |
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"names": null
|
| 474 |
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},
|
| 475 |
+
"index": {
|
| 476 |
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"dtype": "int64",
|
| 477 |
+
"shape": [
|
| 478 |
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1
|
| 479 |
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],
|
| 480 |
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"names": null
|
| 481 |
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|
| 482 |
+
"task_index": {
|
| 483 |
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"dtype": "int64",
|
| 484 |
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"shape": [
|
| 485 |
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|
| 486 |
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|
| 487 |
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"names": null
|
| 488 |
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|
| 489 |
+
}
|
| 490 |
+
}
|
season_POC22061_2026_06_16_10_36_10_train/lerobot3.0/meta/modality.json
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
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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 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
},
|
| 12 |
+
"head_right": {
|
| 13 |
+
"original_key": "observation.images.head_right"
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"state": {
|
| 17 |
+
"joints": {
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 65,
|
| 20 |
+
"rotation_type": null,
|
| 21 |
+
"absolute": true,
|
| 22 |
+
"dtype": "float32",
|
| 23 |
+
"original_key": "observation.state"
|
| 24 |
+
}
|
| 25 |
+
},
|
| 26 |
+
"action": {
|
| 27 |
+
"joints": {
|
| 28 |
+
"start": 0,
|
| 29 |
+
"end": 65,
|
| 30 |
+
"rotation_type": null,
|
| 31 |
+
"absolute": true,
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"original_key": "action"
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"annotation": {
|
| 37 |
+
"human.action.task_description": {
|
| 38 |
+
"original_key": "task_index"
|
| 39 |
+
}
|
| 40 |
+
}
|
| 41 |
+
}
|
season_POC22061_2026_06_16_10_36_10_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_16_10_36_10_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 4805}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 3823}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 3992}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 4129}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 4199}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 3799}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 3448}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 4424}
|
| 9 |
+
{"episode_index": 8, "tasks": ["north ces task"], "length": 4830}
|
season_POC22061_2026_06_16_10_36_10_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_06_16_10_36_10_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 9,
|
| 5 |
+
"total_frames": 37449,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 54,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:9"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
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"left_hand_j8",
|
| 39 |
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"left_hand_j9",
|
| 40 |
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"left_hand_j10",
|
| 41 |
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"left_hand_j11",
|
| 42 |
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"left_hand_j12",
|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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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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| 103 |
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"dtype": "float32",
|
| 456 |
+
"shape": [
|
| 457 |
+
1
|
| 458 |
+
],
|
| 459 |
+
"names": null
|
| 460 |
+
},
|
| 461 |
+
"frame_index": {
|
| 462 |
+
"dtype": "int64",
|
| 463 |
+
"shape": [
|
| 464 |
+
1
|
| 465 |
+
],
|
| 466 |
+
"names": null
|
| 467 |
+
},
|
| 468 |
+
"episode_index": {
|
| 469 |
+
"dtype": "int64",
|
| 470 |
+
"shape": [
|
| 471 |
+
1
|
| 472 |
+
],
|
| 473 |
+
"names": null
|
| 474 |
+
},
|
| 475 |
+
"index": {
|
| 476 |
+
"dtype": "int64",
|
| 477 |
+
"shape": [
|
| 478 |
+
1
|
| 479 |
+
],
|
| 480 |
+
"names": null
|
| 481 |
+
},
|
| 482 |
+
"task_index": {
|
| 483 |
+
"dtype": "int64",
|
| 484 |
+
"shape": [
|
| 485 |
+
1
|
| 486 |
+
],
|
| 487 |
+
"names": null
|
| 488 |
+
}
|
| 489 |
+
}
|
| 490 |
+
}
|
season_POC22061_2026_06_16_10_36_10_train/lerobotv2.1/meta/modality.json
ADDED
|
@@ -0,0 +1,38 @@
|
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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 |
+
"video": {
|
| 3 |
+
"head_left": {
|
| 4 |
+
"original_key": "observation.images.head_left"
|
| 5 |
+
},
|
| 6 |
+
"wrist_left": {
|
| 7 |
+
"original_key": "observation.images.wrist_left"
|
| 8 |
+
},
|
| 9 |
+
"wrist_right": {
|
| 10 |
+
"original_key": "observation.images.wrist_right"
|
| 11 |
+
}
|
| 12 |
+
},
|
| 13 |
+
"state": {
|
| 14 |
+
"joints": {
|
| 15 |
+
"start": 0,
|
| 16 |
+
"end": 65,
|
| 17 |
+
"rotation_type": null,
|
| 18 |
+
"absolute": true,
|
| 19 |
+
"dtype": "float32",
|
| 20 |
+
"original_key": "observation.state"
|
| 21 |
+
}
|
| 22 |
+
},
|
| 23 |
+
"action": {
|
| 24 |
+
"joints": {
|
| 25 |
+
"start": 0,
|
| 26 |
+
"end": 65,
|
| 27 |
+
"rotation_type": null,
|
| 28 |
+
"absolute": true,
|
| 29 |
+
"dtype": "float32",
|
| 30 |
+
"original_key": "action"
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"annotation": {
|
| 34 |
+
"human.action.task_description": {
|
| 35 |
+
"original_key": "task_index"
|
| 36 |
+
}
|
| 37 |
+
}
|
| 38 |
+
}
|
season_POC22061_2026_06_16_10_36_10_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|