Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- season_POC22002_2026_08_27_13_41_07_train/lerobot3.0/meta/info.json +490 -0
- season_POC22002_2026_08_27_13_41_07_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22002_2026_08_27_13_41_07_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22002_2026_08_27_13_41_07_train/lerobotv2.1/meta/episodes.jsonl +17 -0
- season_POC22002_2026_08_27_13_41_07_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22002_2026_08_27_13_41_07_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22002_2026_08_27_13_41_07_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22002_2026_08_28_14_07_32_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22002_2026_08_28_14_07_32_train/lerobotv2.1/meta/episodes.jsonl +30 -0
- season_POC22002_2026_08_28_14_07_32_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22002_2026_08_28_14_07_32_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22002_2026_08_28_14_07_32_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22002_2026_08_28_14_07_32_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22018_2026_08_21_10_12_46_train/lerobot3.0/meta/info.json +490 -0
- season_POC22018_2026_08_21_10_12_46_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22018_2026_08_21_10_12_46_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22018_2026_08_21_10_12_46_train/lerobotv2.1/meta/episodes.jsonl +28 -0
- season_POC22018_2026_08_21_10_12_46_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22018_2026_08_21_10_12_46_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22018_2026_08_21_10_12_46_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22018_2026_08_21_10_12_46_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22018_2026_08_21_19_14_46_train/lerobot3.0/meta/info.json +490 -0
- season_POC22018_2026_08_21_19_14_46_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22018_2026_08_21_19_14_46_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22018_2026_08_21_19_14_46_train/lerobotv2.1/meta/episodes.jsonl +22 -0
- season_POC22018_2026_08_21_19_14_46_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22018_2026_08_21_19_14_46_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22018_2026_08_21_19_14_46_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22018_2026_08_21_19_14_46_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22018_2026_08_26_16_46_00_train/lerobot3.0/meta/info.json +490 -0
- season_POC22018_2026_08_26_16_46_00_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22018_2026_08_26_16_46_00_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22018_2026_08_26_16_46_00_train/lerobotv2.1/meta/episodes.jsonl +12 -0
- season_POC22018_2026_08_26_16_46_00_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22018_2026_08_26_16_46_00_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22018_2026_08_26_16_46_00_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22018_2026_08_26_16_46_00_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22018_2026_09_10_13_50_12_train/lerobot3.0/meta/info.json +490 -0
- season_POC22018_2026_09_10_13_50_12_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22018_2026_09_10_13_50_12_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22018_2026_09_10_13_50_12_train/lerobotv2.1/meta/episodes.jsonl +17 -0
- season_POC22018_2026_09_10_13_50_12_train/lerobotv2.1/meta/episodes_stats.jsonl +0 -0
- season_POC22018_2026_09_10_13_50_12_train/lerobotv2.1/meta/info.json +490 -0
- season_POC22018_2026_09_10_13_50_12_train/lerobotv2.1/meta/modality.json +38 -0
- season_POC22018_2026_09_10_13_50_12_train/lerobotv2.1/meta/tasks.jsonl +1 -0
- season_POC22061_2026_07_24_20_08_22_train/lerobot3.0/meta/info.json +490 -0
- season_POC22061_2026_07_24_20_08_22_train/lerobot3.0/meta/modality.json +41 -0
- season_POC22061_2026_07_24_20_08_22_train/lerobot3.0/meta/stats.json +0 -0
- season_POC22061_2026_07_24_20_08_22_train/lerobotv2.1/meta/episodes.jsonl +4 -0
- season_POC22061_2026_07_24_20_08_22_train/lerobotv2.1/meta/episodes_stats.jsonl +4 -0
season_POC22002_2026_08_27_13_41_07_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 17,
|
| 5 |
+
"total_frames": 70428,
|
| 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": "0:17"
|
| 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 |
+
],
|
| 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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22002_2026_08_27_13_41_07_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_POC22002_2026_08_27_13_41_07_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22002_2026_08_27_13_41_07_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 4325}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 3790}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 4252}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 5574}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 4357}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 4033}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 3995}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 4614}
|
| 9 |
+
{"episode_index": 8, "tasks": ["north ces task"], "length": 5234}
|
| 10 |
+
{"episode_index": 9, "tasks": ["north ces task"], "length": 3652}
|
| 11 |
+
{"episode_index": 10, "tasks": ["north ces task"], "length": 3787}
|
| 12 |
+
{"episode_index": 11, "tasks": ["north ces task"], "length": 4537}
|
| 13 |
+
{"episode_index": 12, "tasks": ["north ces task"], "length": 3422}
|
| 14 |
+
{"episode_index": 13, "tasks": ["north ces task"], "length": 3698}
|
| 15 |
+
{"episode_index": 14, "tasks": ["north ces task"], "length": 4383}
|
| 16 |
+
{"episode_index": 15, "tasks": ["north ces task"], "length": 3298}
|
| 17 |
+
{"episode_index": 16, "tasks": ["north ces task"], "length": 3477}
|
season_POC22002_2026_08_27_13_41_07_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 17,
|
| 5 |
+
"total_frames": 70428,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 102,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:17"
|
| 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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22002_2026_08_27_13_41_07_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_POC22002_2026_08_27_13_41_07_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22002_2026_08_28_14_07_32_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22002_2026_08_28_14_07_32_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 4637}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 5799}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 3630}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 4490}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 3677}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 3986}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 4050}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 3627}
|
| 9 |
+
{"episode_index": 8, "tasks": ["north ces task"], "length": 3271}
|
| 10 |
+
{"episode_index": 9, "tasks": ["north ces task"], "length": 3520}
|
| 11 |
+
{"episode_index": 10, "tasks": ["north ces task"], "length": 4192}
|
| 12 |
+
{"episode_index": 11, "tasks": ["north ces task"], "length": 3957}
|
| 13 |
+
{"episode_index": 12, "tasks": ["north ces task"], "length": 6287}
|
| 14 |
+
{"episode_index": 13, "tasks": ["north ces task"], "length": 2882}
|
| 15 |
+
{"episode_index": 14, "tasks": ["north ces task"], "length": 3548}
|
| 16 |
+
{"episode_index": 15, "tasks": ["north ces task"], "length": 3304}
|
| 17 |
+
{"episode_index": 16, "tasks": ["north ces task"], "length": 3554}
|
| 18 |
+
{"episode_index": 17, "tasks": ["north ces task"], "length": 3541}
|
| 19 |
+
{"episode_index": 18, "tasks": ["north ces task"], "length": 3706}
|
| 20 |
+
{"episode_index": 19, "tasks": ["north ces task"], "length": 3903}
|
| 21 |
+
{"episode_index": 20, "tasks": ["north ces task"], "length": 3438}
|
| 22 |
+
{"episode_index": 21, "tasks": ["north ces task"], "length": 3253}
|
| 23 |
+
{"episode_index": 22, "tasks": ["north ces task"], "length": 4391}
|
| 24 |
+
{"episode_index": 23, "tasks": ["north ces task"], "length": 3106}
|
| 25 |
+
{"episode_index": 24, "tasks": ["north ces task"], "length": 2910}
|
| 26 |
+
{"episode_index": 25, "tasks": ["north ces task"], "length": 3393}
|
| 27 |
+
{"episode_index": 26, "tasks": ["north ces task"], "length": 3095}
|
| 28 |
+
{"episode_index": 27, "tasks": ["north ces task"], "length": 4034}
|
| 29 |
+
{"episode_index": 28, "tasks": ["north ces task"], "length": 4068}
|
| 30 |
+
{"episode_index": 29, "tasks": ["north ces task"], "length": 3598}
|
season_POC22002_2026_08_28_14_07_32_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22002_2026_08_28_14_07_32_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 30,
|
| 5 |
+
"total_frames": 114847,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 180,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:30"
|
| 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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22002_2026_08_28_14_07_32_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_POC22002_2026_08_28_14_07_32_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22018_2026_08_21_10_12_46_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 28,
|
| 5 |
+
"total_frames": 77260,
|
| 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": "0:28"
|
| 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 |
+
],
|
| 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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22018_2026_08_21_10_12_46_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_POC22018_2026_08_21_10_12_46_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22018_2026_08_21_10_12_46_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 3423}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 2469}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 2809}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 2871}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 2643}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 2514}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 3429}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 3005}
|
| 9 |
+
{"episode_index": 8, "tasks": ["north ces task"], "length": 2740}
|
| 10 |
+
{"episode_index": 9, "tasks": ["north ces task"], "length": 2547}
|
| 11 |
+
{"episode_index": 10, "tasks": ["north ces task"], "length": 2476}
|
| 12 |
+
{"episode_index": 11, "tasks": ["north ces task"], "length": 2490}
|
| 13 |
+
{"episode_index": 12, "tasks": ["north ces task"], "length": 3471}
|
| 14 |
+
{"episode_index": 13, "tasks": ["north ces task"], "length": 2731}
|
| 15 |
+
{"episode_index": 14, "tasks": ["north ces task"], "length": 2623}
|
| 16 |
+
{"episode_index": 15, "tasks": ["north ces task"], "length": 2780}
|
| 17 |
+
{"episode_index": 16, "tasks": ["north ces task"], "length": 2659}
|
| 18 |
+
{"episode_index": 17, "tasks": ["north ces task"], "length": 2749}
|
| 19 |
+
{"episode_index": 18, "tasks": ["north ces task"], "length": 2810}
|
| 20 |
+
{"episode_index": 19, "tasks": ["north ces task"], "length": 2518}
|
| 21 |
+
{"episode_index": 20, "tasks": ["north ces task"], "length": 2724}
|
| 22 |
+
{"episode_index": 21, "tasks": ["north ces task"], "length": 2781}
|
| 23 |
+
{"episode_index": 22, "tasks": ["north ces task"], "length": 2713}
|
| 24 |
+
{"episode_index": 23, "tasks": ["north ces task"], "length": 2471}
|
| 25 |
+
{"episode_index": 24, "tasks": ["north ces task"], "length": 2550}
|
| 26 |
+
{"episode_index": 25, "tasks": ["north ces task"], "length": 2647}
|
| 27 |
+
{"episode_index": 26, "tasks": ["north ces task"], "length": 2790}
|
| 28 |
+
{"episode_index": 27, "tasks": ["north ces task"], "length": 2827}
|
season_POC22018_2026_08_21_10_12_46_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22018_2026_08_21_10_12_46_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 28,
|
| 5 |
+
"total_frames": 77260,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 168,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:28"
|
| 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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22018_2026_08_21_10_12_46_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_POC22018_2026_08_21_10_12_46_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22018_2026_08_21_19_14_46_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 22,
|
| 5 |
+
"total_frames": 60425,
|
| 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": "0:22"
|
| 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 |
+
],
|
| 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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22018_2026_08_21_19_14_46_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_POC22018_2026_08_21_19_14_46_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22018_2026_08_21_19_14_46_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 2649}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 2819}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 2705}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 2456}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 3247}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 3185}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 2573}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 2456}
|
| 9 |
+
{"episode_index": 8, "tasks": ["north ces task"], "length": 2557}
|
| 10 |
+
{"episode_index": 9, "tasks": ["north ces task"], "length": 2627}
|
| 11 |
+
{"episode_index": 10, "tasks": ["north ces task"], "length": 2587}
|
| 12 |
+
{"episode_index": 11, "tasks": ["north ces task"], "length": 2445}
|
| 13 |
+
{"episode_index": 12, "tasks": ["north ces task"], "length": 2504}
|
| 14 |
+
{"episode_index": 13, "tasks": ["north ces task"], "length": 2629}
|
| 15 |
+
{"episode_index": 14, "tasks": ["north ces task"], "length": 2702}
|
| 16 |
+
{"episode_index": 15, "tasks": ["north ces task"], "length": 4176}
|
| 17 |
+
{"episode_index": 16, "tasks": ["north ces task"], "length": 2883}
|
| 18 |
+
{"episode_index": 17, "tasks": ["north ces task"], "length": 3050}
|
| 19 |
+
{"episode_index": 18, "tasks": ["north ces task"], "length": 2550}
|
| 20 |
+
{"episode_index": 19, "tasks": ["north ces task"], "length": 2669}
|
| 21 |
+
{"episode_index": 20, "tasks": ["north ces task"], "length": 2534}
|
| 22 |
+
{"episode_index": 21, "tasks": ["north ces task"], "length": 2422}
|
season_POC22018_2026_08_21_19_14_46_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22018_2026_08_21_19_14_46_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 22,
|
| 5 |
+
"total_frames": 60425,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 132,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:22"
|
| 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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22018_2026_08_21_19_14_46_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_POC22018_2026_08_21_19_14_46_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22018_2026_08_26_16_46_00_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 12,
|
| 5 |
+
"total_frames": 56172,
|
| 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 |
+
"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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22018_2026_08_26_16_46_00_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_POC22018_2026_08_26_16_46_00_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22018_2026_08_26_16_46_00_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 4858}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 5545}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 4979}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 4532}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 4526}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 5268}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 5430}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 3952}
|
| 9 |
+
{"episode_index": 8, "tasks": ["north ces task"], "length": 5204}
|
| 10 |
+
{"episode_index": 9, "tasks": ["north ces task"], "length": 4134}
|
| 11 |
+
{"episode_index": 10, "tasks": ["north ces task"], "length": 3695}
|
| 12 |
+
{"episode_index": 11, "tasks": ["north ces task"], "length": 4049}
|
season_POC22018_2026_08_26_16_46_00_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22018_2026_08_26_16_46_00_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 12,
|
| 5 |
+
"total_frames": 56172,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 72,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 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 |
+
"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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22018_2026_08_26_16_46_00_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_POC22018_2026_08_26_16_46_00_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22018_2026_09_10_13_50_12_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 17,
|
| 5 |
+
"total_frames": 78750,
|
| 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": "0:17"
|
| 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 |
+
],
|
| 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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22018_2026_09_10_13_50_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_POC22018_2026_09_10_13_50_12_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22018_2026_09_10_13_50_12_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 5212}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 4508}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 5005}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 4312}
|
| 5 |
+
{"episode_index": 4, "tasks": ["north ces task"], "length": 4009}
|
| 6 |
+
{"episode_index": 5, "tasks": ["north ces task"], "length": 6118}
|
| 7 |
+
{"episode_index": 6, "tasks": ["north ces task"], "length": 5091}
|
| 8 |
+
{"episode_index": 7, "tasks": ["north ces task"], "length": 4693}
|
| 9 |
+
{"episode_index": 8, "tasks": ["north ces task"], "length": 4880}
|
| 10 |
+
{"episode_index": 9, "tasks": ["north ces task"], "length": 4119}
|
| 11 |
+
{"episode_index": 10, "tasks": ["north ces task"], "length": 4139}
|
| 12 |
+
{"episode_index": 11, "tasks": ["north ces task"], "length": 3692}
|
| 13 |
+
{"episode_index": 12, "tasks": ["north ces task"], "length": 5748}
|
| 14 |
+
{"episode_index": 13, "tasks": ["north ces task"], "length": 5056}
|
| 15 |
+
{"episode_index": 14, "tasks": ["north ces task"], "length": 4310}
|
| 16 |
+
{"episode_index": 15, "tasks": ["north ces task"], "length": 4188}
|
| 17 |
+
{"episode_index": 16, "tasks": ["north ces task"], "length": 3670}
|
season_POC22018_2026_09_10_13_50_12_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22018_2026_09_10_13_50_12_train/lerobotv2.1/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 17,
|
| 5 |
+
"total_frames": 78750,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 102,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:17"
|
| 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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_POC22018_2026_09_10_13_50_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_POC22018_2026_09_10_13_50_12_train/lerobotv2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "north ces task"}
|
season_POC22061_2026_07_24_20_08_22_train/lerobot3.0/meta/info.json
ADDED
|
@@ -0,0 +1,490 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "north_ces",
|
| 4 |
+
"total_episodes": 4,
|
| 5 |
+
"total_frames": 13524,
|
| 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": "0:4"
|
| 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 |
+
],
|
| 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 |
+
"video.height": 480,
|
| 285 |
+
"video.width": 480,
|
| 286 |
+
"video.codec": "h264",
|
| 287 |
+
"video.pix_fmt": "yuv420p",
|
| 288 |
+
"video.is_depth_map": false,
|
| 289 |
+
"video.fps": 30,
|
| 290 |
+
"video.channels": 3,
|
| 291 |
+
"has_audio": false
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"observation.images.wrist_right": {
|
| 295 |
+
"dtype": "video",
|
| 296 |
+
"shape": [
|
| 297 |
+
480,
|
| 298 |
+
480,
|
| 299 |
+
3
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"height",
|
| 303 |
+
"width",
|
| 304 |
+
"channels"
|
| 305 |
+
],
|
| 306 |
+
"info": {
|
| 307 |
+
"video.height": 480,
|
| 308 |
+
"video.width": 480,
|
| 309 |
+
"video.codec": "h264",
|
| 310 |
+
"video.pix_fmt": "yuv420p",
|
| 311 |
+
"video.is_depth_map": false,
|
| 312 |
+
"video.fps": 30,
|
| 313 |
+
"video.channels": 3,
|
| 314 |
+
"has_audio": false
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"observation.images.head_right": {
|
| 318 |
+
"dtype": "video",
|
| 319 |
+
"shape": [
|
| 320 |
+
480,
|
| 321 |
+
480,
|
| 322 |
+
3
|
| 323 |
+
],
|
| 324 |
+
"names": [
|
| 325 |
+
"height",
|
| 326 |
+
"width",
|
| 327 |
+
"channels"
|
| 328 |
+
],
|
| 329 |
+
"info": {
|
| 330 |
+
"video.height": 480,
|
| 331 |
+
"video.width": 480,
|
| 332 |
+
"video.codec": "h264",
|
| 333 |
+
"video.pix_fmt": "yuv420p",
|
| 334 |
+
"video.is_depth_map": false,
|
| 335 |
+
"video.fps": 30,
|
| 336 |
+
"video.channels": 3,
|
| 337 |
+
"has_audio": false
|
| 338 |
+
}
|
| 339 |
+
},
|
| 340 |
+
"observation.tactile": {
|
| 341 |
+
"dtype": "float32",
|
| 342 |
+
"shape": [
|
| 343 |
+
60
|
| 344 |
+
],
|
| 345 |
+
"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 |
+
"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_07_24_20_08_22_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_07_24_20_08_22_train/lerobot3.0/meta/stats.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
season_POC22061_2026_07_24_20_08_22_train/lerobotv2.1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["north ces task"], "length": 3029}
|
| 2 |
+
{"episode_index": 1, "tasks": ["north ces task"], "length": 4268}
|
| 3 |
+
{"episode_index": 2, "tasks": ["north ces task"], "length": 3268}
|
| 4 |
+
{"episode_index": 3, "tasks": ["north ces task"], "length": 2959}
|
season_POC22061_2026_07_24_20_08_22_train/lerobotv2.1/meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"observation.state": {"min": [0.8702167868614197, -0.9666560292243958, -0.018651288002729416, 0.7240128517150879, -1.609222173690796, -0.7691304683685303, -0.6190626621246338, 0.006270034238696098, -0.2703327536582947, 0.005436080042272806, -0.048392124474048615, 0.003647033590823412, 0.005145710427314043, 0.000128544561448507, 0.0032038302160799503, 0.0007671215571463108, 0.0036564080510288477, -0.05751834437251091, 0.006431770510971546, 0.0008198888972401619, 0.0035963060799986124, -0.09282004833221436, 0.006593096535652876, 0.0008553627412766218, 0.005404189229011536, 0.003340688534080982, -4.513782187132165e-05, 0.004021452274173498, 0.0008615707047283649, 1.0503487586975098, -1.018827199935913, -0.1949498951435089, 0.9273152351379395, -1.8202179670333862, -0.7750973701477051, -0.5688682794570923, 0.005498543381690979, -0.29489803314208984, 0.0040310826152563095, -0.11222687363624573, 0.003312680870294571, 0.0035609807819128036, -9.812531061470509e-06, 0.0033470734488219023, 0.0008549193735234439, 0.004745112732052803, -0.01855015754699707, 0.003528255270794034, 0.000837182451505214, 0.00479638297110796, -0.07907241582870483, 0.0034839350264519453, 0.0008358521736226976, 0.00657836114987731, 0.0046828025951981544, 0.00022691581398248672, 0.003728228621184826, 0.0008682220941409469, 0.5625874400138855, -1.1069588661193848, 0.5403447151184082, -0.04649879410862923, -0.020325245335698128, -0.06040049344301224, -0.8729309439659119], "max": [1.2858834266662598, -0.3573288321495056, 0.3728945553302765, 1.6216329336166382, 0.0028883181512355804, 0.39633414149284363, 0.5022855997085571, 1.4436076879501343, 0.0008580353460274637, 0.7976288199424744, 0.2944839894771576, 0.5673584342002869, 1.0148485898971558, 0.20675374567508698, 0.6896159052848816, 1.0029737949371338, 1.4138013124465942, 0.22506621479988098, 1.3649901151657104, 1.225703239440918, 1.468928337097168, 0.22993692755699158, 1.5668171644210815, 1.3081738948822021, 0.17220193147659302, 1.4669058322906494, 0.29489314556121826, 1.4808343648910522, 1.3083596229553223, 1.3576023578643799, -0.32271599769592285, -0.0006350440671667457, 1.7227259874343872, 0.00696583092212677, 0.011423363350331783, 0.5040900707244873, 1.4621995687484741, -6.919936276972294e-05, 0.7186027765274048, 0.40347740054130554, 0.5290004014968872, 1.09236741065979, 0.21112623810768127, 0.4107930064201355, 1.0586491823196411, 1.4696511030197144, 0.2574898898601532, 1.5608974695205688, 1.308159589767456, 1.4687334299087524, 0.2411988228559494, 1.5646175146102905, 1.3084709644317627, 0.17103631794452667, 1.468329668045044, 0.28904587030410767, 1.5258969068527222, 1.3081613779067993, 0.5628750920295715, -1.1065753698349, 0.7646894454956055, 0.054552190005779266, 0.08810801804065704, 0.1197463721036911, -0.5974855422973633], "mean": [1.023614525794983, -0.749108612537384, 0.21459777653217316, 1.3318054676055908, -0.5844650268554688, -0.049871016293764114, 0.07254791259765625, 1.2290350198745728, -0.17532844841480255, 0.5223900079727173, 0.12749387323856354, 0.09868514537811279, 0.8386562466621399, 0.14356312155723572, 0.32374081015586853, 0.4107292890548706, 1.0874134302139282, 0.08214506506919861, 0.4480862617492676, 0.3446493446826935, 1.1650224924087524, 0.03067699261009693, 0.9133012890815735, 0.7865149974822998, 0.12161599099636078, 1.1295830011367798, 0.12807749211788177, 0.8369574546813965, 0.7256321907043457, 1.2549916505813599, -0.7212682962417603, -0.13870112597942352, 1.3932687044143677, -1.1301929950714111, -0.38047003746032715, -0.16447439789772034, 1.2623467445373535, -0.1905767172574997, 0.3615094721317291, 0.16869698464870453, 0.2489212602376938, 0.8925014138221741, 0.1306392103433609, 0.2243192493915558, 0.34100404381752014, 1.3028583526611328, 0.0621943362057209, 1.059083104133606, 0.9418151378631592, 1.3810597658157349, -0.014555798843502998, 1.3969603776931763, 1.17782461643219, 0.045043475925922394, 1.3764318227767944, 0.08182065188884735, 1.3021421432495117, 1.2084318399429321, 0.5627060532569885, -1.106873631477356, 0.6647623777389526, 0.01665191724896431, 0.01976749859750271, 0.030652454122900963, -0.7852436304092407], "std": [0.13858352601528168, 0.19032414257526398, 0.13758915662765503, 0.21340279281139374, 0.4594864845275879, 0.2178167998790741, 0.37745702266693115, 0.2905891537666321, 0.04680916666984558, 0.1654636114835739, 0.08647222816944122, 0.10879531502723694, 0.20144180953502655, 0.05594146251678467, 0.17295557260513306, 0.22672510147094727, 0.28232628107070923, 0.06592057645320892, 0.4475097060203552, 0.39178335666656494, 0.33839327096939087, 0.07029516249895096, 0.5554868578910828, 0.4169621169567108, 0.050618529319763184, 0.32296863198280334, 0.07633236795663834, 0.5670138001441956, 0.46690303087234497, 0.09447476267814636, 0.13272088766098022, 0.03974813222885132, 0.18829241394996643, 0.4321804940700531, 0.17414459586143494, 0.2583690285682678, 0.2963372766971588, 0.05512849986553192, 0.1729128360748291, 0.10509791970252991, 0.10109172761440277, 0.2243981957435608, 0.04626898467540741, 0.07862922549247742, 0.19487127661705017, 0.33055901527404785, 0.04065719619393349, 0.6412819623947144, 0.5533368587493896, 0.32837384939193726, 0.036840278655290604, 0.3773943781852722, 0.320297509431839, 0.025623438879847527, 0.33044782280921936, 0.036622848361730576, 0.3607809245586395, 0.3174182176589966, 5.35152321390342e-05, 4.5188226067693904e-05, 0.058909956365823746, 0.026214314624667168, 0.022783704102039337, 0.03723984956741333, 0.08964426070451736], "count": [3029]}, "observation.state.joint_torque": {"min": [-34.63800048828125, -1.8854999542236328, -16.097999572753906, -8.467000007629395, -0.5608000159263611, -1.8783999681472778, -0.7623999714851379, -1.106695294380188, -0.4495552182197571, -0.6735377907752991, -1.7857449054718018, -0.13614100217819214, -0.4240832030773163, -1.2856820821762085, -0.7437946796417236, -0.07206379622220993, -0.5372999906539917, -1.2060465812683105, -0.1062563955783844, -0.06136125698685646, -0.41832640767097473, -0.7301523089408875, -0.20089100301265717, -0.06492877006530762, -0.12050550431013107, -0.5142728090286255, -0.4279210865497589, -0.2556794285774231, -0.07563132047653198, 7.060500144958496, -2.7014999389648438, 0.49300000071525574, -7.810999870300293, -2.014400005340576, -2.4072000980377197, -2.7344000339508057, -1.4378126859664917, -0.8303399682044983, -1.1954673528671265, -1.963449478149414, -0.11787817627191544, -2.1405646800994873, -1.5408995151519775, -1.0609036684036255, -0.21547789871692657, -2.0417399406433105, -1.5073182582855225, -0.665762722492218, -0.15197613835334778, -1.4612640142440796, -0.822260856628418, -0.6641023755073547, -0.14912211894989014, -0.09103883057832718, -1.1724653244018555, -0.38186678290367126, -0.7487755417823792, -0.11986850202083588, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.30150032043457, 9.305999755859375, -5.339000225067139, -1.1239999532699585, 1.9479999542236328, 2.026400089263916, 2.97760009765625, 2.6782281398773193, 3.653750419616699, 2.2529962062835693, 0.6785085201263428, 1.054262638092041, 1.7596575021743774, 0.7742876410484314, 1.0625640153884888, 0.21476440131664276, 0.994005024433136, 0.3310151696205139, 0.13116022944450378, 0.11130645871162415, 0.45574551820755005, 0.24466337263584137, 0.2291153371334076, 0.05422622710466385, 0.0971960499882698, 0.5277053117752075, 0.35692068934440613, 0.2108525186777115, 0.051372215151786804, 31.40399932861328, 10.194000244140625, 15.189000129699707, 1.090000033378601, 0.47600001096725464, 2.2952001094818115, 0.8447999954223633, 3.4283361434936523, 4.75153112411499, 2.564911127090454, 0.9357452392578125, 0.9380446076393127, 1.9381177425384521, 1.136965036392212, 1.054262638092041, 0.21405090391635895, 1.6675487756729126, 0.535381019115448, 0.9164613485336304, 0.21405090391635895, 0.4020155072212219, 0.4096912443637848, 0.40344223380088806, 0.1662461906671524, 0.07168757170438766, 0.4490292966365814, 0.36363694071769714, 0.3968012034893036, 0.12414951622486115, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.679533004760742, 4.9582366943359375, -13.169339179992676, -5.464850425720215, 0.12707145512104034, -0.4029181897640228, 1.620057225227356, 0.17633216083049774, 0.26428425312042236, 0.14400139451026917, -0.11571598798036575, 0.03979513794183731, 0.1555873602628708, -0.10401519387960434, 0.07949221879243851, 0.022138621658086777, 0.05755376070737839, -0.08443581312894821, 0.002453926485031843, 0.005505689419806004, 0.004802700597792864, -0.02506517618894577, 0.006606477778404951, 0.003840993158519268, -0.0026784450747072697, 0.030465995892882347, 0.004516375716775656, 0.0025043217465281487, 0.0003231826703995466, 25.748044967651367, 1.688261866569519, 13.075695037841797, -3.5572571754455566, -0.977861225605011, 0.6274290084838867, -1.066594123840332, 0.0447629950940609, 0.31086212396621704, 0.2008858472108841, -0.0400310717523098, 0.05922439694404602, 0.12842883169651031, 0.029755132272839546, 0.08088723570108414, 0.021648753434419632, 0.10996980220079422, -0.1479235291481018, 0.025691932067275047, 0.013149427250027657, -0.006202152464538813, -0.03460782393813133, 0.005407190416008234, 0.00029256349080242217, -0.0020252049434930086, 0.01137226726859808, -0.02294227108359337, 0.005257016979157925, 0.004309493582695723, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [3.3551764488220215, 2.6756930351257324, 1.857661485671997, 1.5702698230743408, 0.40524351596832275, 0.8003166317939758, 0.7755645513534546, 0.6456835269927979, 0.7120339274406433, 0.5085612535476685, 0.4515003263950348, 0.12551690638065338, 0.41755250096321106, 0.3476598858833313, 0.2535715699195862, 0.05882794037461281, 0.21835273504257202, 0.2208912968635559, 0.020115312188863754, 0.013563304208219051, 0.06490713357925415, 0.09101809561252594, 0.022902892902493477, 0.01088485587388277, 0.013351252302527428, 0.09541301429271698, 0.08190570026636124, 0.026441898196935654, 0.012377537786960602, 3.0932819843292236, 1.5095936059951782, 1.6900303363800049, 1.4857759475708008, 0.285808801651001, 0.6158789992332458, 0.6783326864242554, 0.4580865204334259, 0.846513032913208, 0.4891107380390167, 0.3659844994544983, 0.144541934132576, 0.4076240360736847, 0.2813867926597595, 0.2133985310792923, 0.059136681258678436, 0.39184078574180603, 0.30899232625961304, 0.10498863458633423, 0.034628935158252716, 0.06678920984268188, 0.09939589351415634, 0.027872318401932716, 0.008524109609425068, 0.010422908701002598, 0.067404605448246, 0.08239337801933289, 0.03479993715882301, 0.0093698650598526, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3029]}, "observation.state.tcp": {"min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3029]}, "action": {"min": [0.8706178665161133, -0.9658809304237366, -0.0210898295044899, 0.7245333194732666, -1.6178882122039795, -0.7699999809265137, -0.6215071678161621, 0.0, -0.27111539244651794, 0.0, -0.05154293403029442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.05113617703318596, 0.0, 0.0, 0.0, -0.10026252269744873, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0499999523162842, -1.01845383644104, -0.19529326260089874, 0.9264828562736511, -1.8392176628112793, -0.7699999809265137, -0.5732108950614929, 0.0, -0.293317049741745, 0.0, -0.11792682111263275, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.023067224770784378, 0.0, 0.0, 0.0, -0.08571174740791321, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5398218035697937, -0.04697970673441887, -0.0212862491607666, -0.06062960624694824, -0.8726646304130554], "max": [1.2877753973007202, -0.35471558570861816, 0.37390783429145813, 1.6251702308654785, 0.0, 0.4219644367694855, 0.5199999809265137, 1.4487049579620361, 0.0, 0.8941073417663574, 0.2955930233001709, 0.5698110461235046, 1.021031141281128, 0.24926398694515228, 0.7573950290679932, 1.0038959980010986, 1.4081913232803345, 0.22891029715538025, 1.371408224105835, 1.2268658876419067, 1.5707963705062866, 0.2307330220937729, 1.5707963705062866, 1.5707963705062866, 0.18689465522766113, 1.474334955215454, 0.29613861441612244, 1.4851289987564087, 1.3753223419189453, 1.3578603267669678, -0.3217439353466034, -7.42322221462744e-18, 1.7257288694381714, 0.0050267791375517845, 0.05410105735063553, 0.5199999809265137, 1.4716672897338867, 0.0, 0.7239521145820618, 0.29379457235336304, 0.5291944146156311, 1.098136067390442, 0.2969872057437897, 0.40683647990226746, 0.7694070339202881, 1.5659306049346924, 0.263040155172348, 1.5661956071853638, 1.5653879642486572, 1.5707963705062866, 0.24810141324996948, 1.5707963705062866, 1.5707963705062866, 0.18606486916542053, 1.551154375076294, 0.29345017671585083, 1.5326642990112305, 1.5368458032608032, 0.5626999735832214, -1.106863021850586, 0.7656423449516296, 0.05505022034049034, 0.08906674385070801, 0.12036255747079849, -0.5977892279624939], "mean": [1.023557186126709, -0.747608482837677, 0.21485820412635803, 1.3334518671035767, -0.5829073190689087, -0.039021894335746765, 0.07942081242799759, 1.2292351722717285, -0.17371132969856262, 0.5298779606819153, 0.11895754933357239, 0.09710787236690521, 0.8419329524040222, 0.13950054347515106, 0.3241693079471588, 0.4278391897678375, 1.084346055984497, 0.08206872642040253, 0.44891557097435, 0.3450664281845093, 1.1868896484375, 0.029608316719532013, 0.9145634174346924, 0.8455808758735657, 0.12200552970170975, 1.1309055089950562, 0.12844544649124146, 0.8364394903182983, 0.7330214381217957, 1.25423002243042, -0.7208133935928345, -0.1387733370065689, 1.3939108848571777, -1.1398259401321411, -0.3713633716106415, -0.16042111814022064, 1.2606256008148193, -0.19219274818897247, 0.36521148681640625, 0.16675764322280884, 0.2500479519367218, 0.8914393782615662, 0.13190865516662598, 0.2266024798154831, 0.33892714977264404, 1.3309047222137451, 0.0589822456240654, 1.0575191974639893, 1.0626220703125, 1.4499788284301758, -0.014100407250225544, 1.3983865976333618, 1.3207857608795166, 0.041936684399843216, 1.4205492734909058, 0.08143632858991623, 1.3021634817123413, 1.3355120420455933, 0.5627074837684631, -1.1068767309188843, 0.6648067831993103, 0.016680549830198288, 0.019803907722234726, 0.030685648322105408, -0.7852527499198914], "std": [0.13822942972183228, 0.19063341617584229, 0.13814139366149902, 0.21399261057376862, 0.46277689933776855, 0.22092290222644806, 0.3815014958381653, 0.297749787569046, 0.048511914908885956, 0.18155537545681, 0.09396068751811981, 0.10979943722486496, 0.20790402591228485, 0.06479082256555557, 0.17775054275989532, 0.2517647445201874, 0.28826186060905457, 0.06689191609621048, 0.4467039108276367, 0.3915857970714569, 0.3675001859664917, 0.07265892624855042, 0.5574171543121338, 0.4975273013114929, 0.05745696648955345, 0.3281683623790741, 0.07833312451839447, 0.5702009797096252, 0.47745561599731445, 0.09496703743934631, 0.13277208805084229, 0.04013694450259209, 0.18850967288017273, 0.4362071454524994, 0.1792813092470169, 0.26321807503700256, 0.30371880531311035, 0.0571027509868145, 0.17661242187023163, 0.10362591594457626, 0.10276675969362259, 0.2295483648777008, 0.0501495823264122, 0.07984375953674316, 0.18980289995670319, 0.34753546118736267, 0.04219617322087288, 0.6409252882003784, 0.6360997557640076, 0.350894033908844, 0.03965660184621811, 0.3765670359134674, 0.38744109869003296, 0.0276553425937891, 0.3465873897075653, 0.03996608033776283, 0.35764217376708984, 0.3642925024032593, 2.3640346626052633e-05, 1.422826881025685e-05, 0.05897636339068413, 0.026261460036039352, 0.022842613980174065, 0.037289269268512726, 0.08961191028356552], "count": [3029]}, "observation.tactile": {"min": [-4.625, -0.054931640625, -0.06915283203125, -0.369140625, -0.1165771484375, -0.0859375, -1.7705078125, -0.214111328125, -0.0638427734375, -0.268310546875, -0.07470703125, -0.0401611328125, -0.0086212158203125, -0.0650634765625, -0.208251953125, -0.049652099609375, -0.0005855560302734375, -0.0003001689910888672, -0.0091094970703125, -0.010711669921875, -0.0303192138671875, -0.0009431838989257812, -0.00048613548278808594, -0.00030612945556640625, -0.02301025390625, -0.01251983642578125, -0.0245513916015625, -0.0004162788391113281, -0.00043487548828125, -0.0005083084106445312, -15.390625, -0.0416259765625, -0.05426025390625, -0.3427734375, -0.0269927978515625, -0.263427734375, -26.015625, -1.138671875, -0.371826171875, -0.352294921875, -0.05096435546875, -0.405517578125, -21.125, -0.615234375, -0.876953125, -0.256103515625, -0.0718994140625, -0.27734375, -0.02880859375, -0.00705718994140625, -0.0151824951171875, -0.00033736228942871094, -0.0008220672607421875, -0.0012273788452148438, -0.01110076904296875, -0.0045318603515625, -0.0086212158203125, -0.00040841102600097656, -0.0002655982971191406, -0.0007085800170898438], "max": [15.9375, 25.109375, 19.53125, 0.00965118408203125, 0.03216552734375, 0.289306640625, 12.2265625, 4.28125, 13.9140625, 0.007694244384765625, 0.00799560546875, 0.1964111328125, 2.4765625, 1.025390625, 2.369140625, 0.01038360595703125, 0.007808685302734375, 0.0445556640625, 0.009429931640625, 0.015899658203125, 0.042938232421875, 0.00045013427734375, 0.0005421638488769531, 0.00035309791564941406, 0.0195770263671875, 0.0131378173828125, 0.0345458984375, 0.00043582916259765625, 0.0006480216979980469, 0.0003662109375, 7.1015625, 19.390625, 22.546875, 0.0198974609375, 0.07928466796875, 0.11962890625, 9.890625, 11.296875, 21.28125, 0.00228118896484375, 0.029693603515625, 0.200927734375, 0.01800537109375, 8.703125, 14.3359375, 0.0013179779052734375, 0.037384033203125, 0.00037097930908203125, 0.0072479248046875, 0.0192413330078125, 0.02130126953125, 0.0003910064697265625, 0.00110626220703125, 0.0003609657287597656, 0.009735107421875, 0.004627227783203125, 0.01544189453125, 0.00032901763916015625, 0.0005426406860351562, 0.0003247261047363281], "mean": [1.156534194946289, 2.1846601963043213, 1.697348952293396, -0.032417915761470795, -0.004695581737905741, 0.02230978198349476, 0.7674329876899719, 0.2944185733795166, 0.6649567484855652, -0.01554404478520155, -0.004779573995620012, 0.012350506149232388, 0.078533835709095, 0.015242457389831543, 0.0339738167822361, -0.0006392503855749965, 0.00017139335977844894, 0.0014253369299694896, -1.6932206563069485e-05, 2.350780414417386e-05, -0.00012188392429379746, 1.4610517382607213e-06, -1.4194918094290188e-06, 1.245223529622308e-06, 1.2428089576133061e-05, 4.334574259701185e-05, 6.861669680802152e-05, -5.779820639872923e-07, 8.972771752269182e-07, 6.304829298642289e-07, 0.08841582387685776, 1.9017398357391357, 1.9593487977981567, -0.03285884112119675, 0.003950393293052912, 0.0008994009695015848, -0.3933095335960388, 0.8867219686508179, 2.0264081954956055, -0.03791387006640434, -0.0001187067900900729, -0.006792229600250721, -1.3720276355743408, 0.43477845191955566, 0.89727783203125, -0.017138689756393433, -0.0023990157060325146, -0.02013852447271347, 2.9904254006396513e-06, 2.9689115763176233e-05, -7.285329047590494e-05, -5.146582680026768e-07, 2.0471017592171847e-07, -3.5695882161235204e-07, -1.6247411622316577e-05, 3.5536686482373625e-06, 3.3197564334841445e-05, -1.6110767546706484e-06, 1.7491768744548608e-07, -5.567691800933972e-07], "std": [3.619952917098999, 5.016875743865967, 4.0232625007629395, 0.07542603462934494, 0.019779369235038757, 0.07012257725000381, 2.3184475898742676, 0.6956257224082947, 1.7582354545593262, 0.0405925028026104, 0.014114731922745705, 0.03866840898990631, 0.34776705503463745, 0.08965080231428146, 0.19380252063274384, 0.004041163716465235, 0.0007776867132633924, 0.006302223540842533, 0.0024188102688640356, 0.0031627716962248087, 0.008473138324916363, 0.00012961796892341226, 0.00016611006867606193, 7.839610043447465e-05, 0.00286848028190434, 0.003189974930137396, 0.0069019184447824955, 0.00012280211376491934, 0.00013652732013724744, 8.070270996540785e-05, 2.386986494064331, 3.804351806640625, 4.280476093292236, 0.07266892492771149, 0.012451675720512867, 0.044240839779376984, 3.7117745876312256, 1.7758735418319702, 4.03969669342041, 0.07226283103227615, 0.007258519064635038, 0.06482623517513275, 3.9251582622528076, 1.43083655834198, 2.7114453315734863, 0.049991149455308914, 0.01021663099527359, 0.05697302892804146, 0.0010949841234833002, 0.0011251243995502591, 0.0022100426722317934, 8.661922765895724e-05, 0.000100004552223254, 6.07524489169009e-05, 0.0010081676300615072, 0.0011356776813045144, 0.002105189487338066, 0.00010198827658314258, 8.209752559196204e-05, 5.327393955667503e-05], "count": [3029]}, "timestamp": {"min": [0.0], "max": [100.93333435058594], "mean": [50.466666666524574], "std": [29.146564502992003], "count": [3029]}, "frame_index": {"min": [0.0], "max": [3028.0], "mean": [1514.0], "std": [874.3969350357994], "count": [3029]}, "episode_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [3029]}, "index": {"min": [0.0], "max": [3028.0], "mean": [1514.0], "std": [874.3969350357994], "count": [3029]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [3029]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31200098991394043]], [[0.26514554023742676]], [[0.32337436079978943]]], "std": [[[0.3445188105106354]], [[0.32453086972236633]], [[0.3508346974849701]]], "count": [3029]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3100419044494629]], [[0.2428339719772339]], [[0.3183671534061432]]], "std": [[[0.20554322004318237]], [[0.17787933349609375]], [[0.2091345638036728]]], "count": [3029]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3167581558227539]], [[0.23755080997943878]], [[0.3189106285572052]]], "std": [[[0.20379520952701569]], [[0.1769113391637802]], [[0.20374147593975067]]], "count": [3029]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3083394765853882]], [[0.26584628224372864]], [[0.3218197226524353]]], "std": [[[0.3421531915664673]], [[0.32202914357185364]], [[0.34794214367866516]]], "count": [3029]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6745098233222961]], [[0.6745098233222961]], [[0.6745098233222961]]], "mean": [[[0.0021303719840943813]], [[0.0021303719840943813]], [[0.0021303719840943813]]], "std": [[[0.030009593814611435]], [[0.030009593814611435]], [[0.030009593814611435]]], "count": [3029]}, "observation.images.tactile_raw": {"min": [[[0.0117647061124444]], [[0.0117647061124444]], [[0.0117647061124444]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4959349036216736]], [[0.4959349036216736]], [[0.4959349036216736]]], "std": [[[0.22044141590595245]], [[0.22044141590595245]], [[0.22044141590595245]]], "count": [3029]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"observation.state": {"min": [0.9277383685112, -0.9540094137191772, -0.01880205050110817, 0.5881102681159973, -1.5872081518173218, -0.7691014409065247, -0.6374750733375549, 0.006257206201553345, -0.27570298314094543, 0.005426609888672829, -0.024271352216601372, 0.003524355124682188, 0.005182262044399977, 0.00015798257663846016, 0.0032424775417894125, 0.0008185586193576455, 0.0037822541780769825, -0.051622942090034485, 0.00639454135671258, 0.0008402863750234246, 0.0036142137832939625, -0.09644778817892075, 0.006599478889256716, 0.0008473811321891844, 0.005368867423385382, 0.0034231143072247505, -0.0034758569672703743, 0.004088464193046093, 0.0008589101489633322, 1.050294280052185, -1.0251909494400024, -0.18556830286979675, 1.0194209814071655, -1.8476287126541138, -0.7994137406349182, -0.564371645450592, 0.005526728928089142, -0.28586989641189575, -0.10637374222278595, -0.08019454777240753, 0.005114569794386625, 0.0067795030772686005, -0.003277888521552086, 0.0033520373981446028, 0.0008633444085717201, 0.0048017799854278564, -0.004297852516174316, 0.00353215541690588, 0.0008416167111136019, 0.004755415953695774, -0.06649917364120483, 0.003824669634923339, 0.000812794198282063, 0.006108478643000126, 0.004640853963792324, -0.0011564111337065697, 0.0037707763258367777, 0.0008558061672374606, 0.5623956918716431, -1.1069588661193848, 0.5441796779632568, -0.050333745777606964, -0.024351945146918297, -0.058578889816999435, -0.8729309439659119], "max": [1.3994224071502686, -0.16561906039714813, 0.28399989008903503, 1.6384567022323608, 0.0032797229941934347, 0.88568514585495, 0.5031862258911133, 1.5368202924728394, 0.0008518920512869954, 0.9144959449768066, 0.2977678179740906, 0.6157069206237793, 1.032737374305725, 0.20743593573570251, 0.8748431205749512, 1.060325264930725, 1.4125365018844604, 0.22627827525138855, 1.3552970886230469, 1.2471694946289062, 1.46970534324646, 0.2066933959722519, 1.5675681829452515, 1.3081990480422974, 0.17859405279159546, 1.4294853210449219, 0.292511910200119, 1.4540668725967407, 1.3081680536270142, 1.3804068565368652, -0.3711053729057312, -0.0006049636867828667, 1.7075443267822266, 0.007999470457434654, -0.07879219949245453, 0.5047698020935059, 1.635725736618042, 0.0003053434193134308, 0.72138512134552, 0.3776644766330719, 0.47252383828163147, 1.1067171096801758, 0.20941811800003052, 0.3207918405532837, 0.8696551322937012, 1.469634771347046, 0.27623996138572693, 1.5688762664794922, 1.3212649822235107, 1.468367576599121, 0.26229727268218994, 1.5646384954452515, 1.3084546327590942, 0.1777431219816208, 1.468235731124878, 0.28865015506744385, 1.5570600032806396, 1.3081778287887573, 0.5628750920295715, -1.1065753698349, 0.8208714723587036, 0.0475534051656723, 0.06970024853944778, 0.12329370528459549, -0.5792694687843323], "mean": [1.1205880641937256, -0.6768409013748169, 0.14670147001743317, 1.2664976119995117, -0.7245054244995117, 0.058558449149131775, -0.1281958520412445, 1.1884772777557373, -0.18557949364185333, 0.5784229636192322, 0.15958529710769653, 0.2140359729528427, 0.8453622460365295, 0.13228031992912292, 0.4423312246799469, 0.48022162914276123, 1.1158807277679443, 0.06704141199588776, 0.6115490198135376, 0.4270501434803009, 1.217907190322876, 0.014907627366483212, 1.0079447031021118, 0.8648731112480164, 0.12675462663173676, 1.1577608585357666, 0.1173296794295311, 0.8752284646034241, 0.7712864875793457, 1.2671576738357544, -0.7345165014266968, -0.13266435265541077, 1.4203089475631714, -1.0667366981506348, -0.5103282332420349, -0.05595342069864273, 1.3133167028427124, -0.20227105915546417, 0.36479929089546204, 0.16792117059230804, 0.28776687383651733, 0.9140114784240723, 0.13959980010986328, 0.1451548933982849, 0.3881472945213318, 1.2426958084106445, 0.06731780618429184, 0.9980853199958801, 0.86786949634552, 1.3799229860305786, -0.00940968282520771, 1.2365779876708984, 1.0845263004302979, 0.08042359352111816, 1.3371849060058594, 0.08668005466461182, 1.0518181324005127, 1.092706322669983, 0.5627068877220154, -1.106884479522705, 0.7010177969932556, 0.007690944708883762, 0.009841036051511765, 0.04506181925535202, -0.7698419690132141], "std": [0.13908587396144867, 0.22824709117412567, 0.10707244277000427, 0.2568644881248474, 0.49126264452934265, 0.3230331540107727, 0.4303370714187622, 0.2751350700855255, 0.04737432673573494, 0.17657484114170074, 0.0826406180858612, 0.15816834568977356, 0.18328571319580078, 0.0599234513938427, 0.24196283519268036, 0.2805763781070709, 0.2511177957057953, 0.07088836282491684, 0.5249690413475037, 0.3999588191509247, 0.31696516275405884, 0.07694508880376816, 0.5992174744606018, 0.4608217775821686, 0.049452535808086395, 0.29008087515830994, 0.0831531435251236, 0.5540322065353394, 0.5046204924583435, 0.08135735988616943, 0.1101733148097992, 0.03015754558146, 0.12700121104717255, 0.38368746638298035, 0.21538442373275757, 0.29794806241989136, 0.25579187273979187, 0.06559810042381287, 0.20402607321739197, 0.10483097285032272, 0.12726688385009766, 0.19278612732887268, 0.038484636694192886, 0.06292738765478134, 0.14689193665981293, 0.3034195303916931, 0.0324249342083931, 0.582632303237915, 0.48855558037757874, 0.2763509452342987, 0.031154116615653038, 0.4059333801269531, 0.307302862405777, 0.06454318016767502, 0.2829861044883728, 0.03083828277885914, 0.5051988363265991, 0.32193484902381897, 6.35743053862825e-05, 5.382165181799792e-05, 0.06220541521906853, 0.025028426200151443, 0.016968058422207832, 0.04055742174386978, 0.08789170533418655], "count": [4268]}, "observation.state.joint_torque": {"min": [-35.02050018310547, -5.013000011444092, -15.715999603271484, -9.517000198364258, -0.758400022983551, -4.519999980926514, -2.416800022125244, -0.8723663687705994, -1.105421781539917, -0.8363301157951355, -2.2902767658233643, -0.28058329224586487, -1.7126437425613403, -1.7414275407791138, -1.0592433214187622, -0.21476440131664276, -1.782684564590454, -2.0897130966186523, -0.23575636744499207, -0.06849627941846848, -0.7877201437950134, -1.2712900638580322, -0.2307755947113037, -0.08419335633516312, -0.11082987487316132, -0.471096932888031, -0.428880512714386, -0.19092944264411926, -0.05993425101041794, 12.741000175476074, -3.9119999408721924, 6.057000160217285, -8.041000366210938, -2.0199999809265137, -1.2064000368118286, -2.7655999660491943, -1.684876799583435, -0.7348253130912781, -1.704970121383667, -1.3222216367721558, -0.17930763959884644, -2.142483711242676, -1.086113452911377, -1.0592433214187622, -0.21476441621780396, -1.8863067626953125, -1.1580733060836792, -1.0559228658676147, -0.21405090391635895, -0.40873175859451294, -0.7013683319091797, -0.2905448377132416, -0.08847436308860779, -0.08708062022924423, -0.435596764087677, -0.4144885241985321, -0.43000632524490356, -0.09061487764120102, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-6.21150016784668, 20.866500854492188, 3.5209999084472656, 2.252000093460083, 1.9368000030517578, 2.6528000831604004, 2.8399999141693115, 2.674407720565796, 4.296882152557373, 2.774925947189331, 0.697148859500885, 1.0592433214187622, 2.0925915241241455, 0.9834508895874023, 1.064224123954773, 0.21547789871692657, 1.1695868968963623, 0.38666409254074097, 0.7271921634674072, 0.17694874107837677, 0.6572329998016357, 0.33773142099380493, 0.32042941451072693, 0.06564227491617203, 0.08224280178546906, 0.7963553667068481, 0.44135355949401855, 0.32208967208862305, 0.09132837504148483, 35.00550079345703, 10.875, 16.347999572753906, 7.547999858856201, -0.029600000008940697, 2.0687999725341797, 0.3871999979019165, 3.2334864139556885, 3.176177740097046, 2.4841363430023193, 0.8065056204795837, 0.8052241802215576, 2.142483711242676, 1.0937892198562622, 1.0559228658676147, 0.21405090391635895, 1.798035979270935, 0.6485978364944458, 1.0559228658676147, 0.21405090391635895, 0.3530828356742859, 0.3972181975841522, 0.32042941451072693, 0.0635017603635788, 0.07740499079227448, 0.5181106925010681, 0.4125696122646332, 0.41838452219963074, 0.0770583227276802, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.00027084350586, 3.4454405307769775, -11.52846622467041, -4.797433853149414, 0.24788178503513336, -0.4652367830276489, 1.1545518636703491, 0.35139381885528564, 0.4525563418865204, 0.42581048607826233, -0.31184062361717224, 0.10490909218788147, 0.1807306706905365, -0.18219783902168274, 0.04178035259246826, 0.030283072963356972, 0.11178592592477798, -0.19802765548229218, 0.011219201609492302, 0.0032584078144282103, -0.01054576225578785, -0.058729421347379684, 0.0066733150742948055, 0.002004258567467332, -0.001391741679981351, 0.032926008105278015, -0.01095806434750557, 0.007228060159832239, 0.003602626034989953, 25.304967880249023, 2.262335777282715, 13.168323516845703, -3.7936699390411377, -0.9771084189414978, 0.6235411763191223, -1.2435803413391113, 0.046545252203941345, 0.19594137370586395, 0.16894088685512543, -0.06918594241142273, 0.041631173342466354, 0.11699135601520538, 0.075107142329216, 0.03624442219734192, 0.013545657508075237, 0.01699630729854107, -0.19317655265331268, 0.0454360693693161, 0.01439293846487999, -0.0049783275462687016, -0.02299683354794979, 0.004511632025241852, 0.002315875608474016, -0.002390260109677911, 0.017481084913015366, -0.011956200934946537, 0.006301446817815304, 0.0032152540516108274, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [4.755134582519531, 2.9042599201202393, 3.689328908920288, 1.8879191875457764, 0.4363277852535248, 1.0175200700759888, 1.0432372093200684, 0.7623445987701416, 0.9598516821861267, 0.7802748680114746, 0.6008989810943604, 0.22259920835494995, 0.558677077293396, 0.435978502035141, 0.38137689232826233, 0.09185772389173508, 0.3366188108921051, 0.38577544689178467, 0.04119972512125969, 0.015848565846681595, 0.09307126700878143, 0.1560439020395279, 0.02481933683156967, 0.008737864904105663, 0.01056166086345911, 0.10512527823448181, 0.08142256736755371, 0.027541300281882286, 0.01277749054133892, 2.290816068649292, 1.4356987476348877, 1.3659443855285645, 1.1425974369049072, 0.2521696388721466, 0.4995099902153015, 0.621982753276825, 0.5457466244697571, 0.5866707563400269, 0.40910986065864563, 0.28788766264915466, 0.10129028558731079, 0.36855411529541016, 0.2356870025396347, 0.16922365128993988, 0.04205889627337456, 0.44522473216056824, 0.3037627935409546, 0.18721118569374084, 0.04795375466346741, 0.052287884056568146, 0.08199606835842133, 0.021197348833084106, 0.007538116071373224, 0.010094831697642803, 0.06433451920747757, 0.06070227921009064, 0.03376120701432228, 0.008281724527478218, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [4268]}, "observation.state.tcp": {"min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [4268]}, "action": {"min": [0.9278040528297424, -0.9530695676803589, -0.02146895043551922, 0.5869908332824707, -1.593993067741394, -0.7699999809265137, -0.6426931619644165, 0.0, -0.2741856873035431, 0.0, -0.09568756073713303, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.05376303568482399, 0.0, 0.0, 0.0, -0.10354049503803253, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0499999523162842, -1.0245494842529297, -0.1859714388847351, 1.0187265872955322, -1.8627676963806152, -0.8072914481163025, -0.5656982064247131, 0.0, -0.2916645109653473, -0.112908273935318, -0.09268426895141602, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.011582018807530403, 0.0, 0.0, 0.0, -0.07433595508337021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5625874400138855, -1.1069588661193848, 0.5442000031471252, -0.05099721625447273, -0.02489762008190155, -0.05940651521086693, -0.8726646304130554], "max": [1.4009839296340942, -0.1629791557788849, 0.28492122888565063, 1.6420128345489502, 0.0027698250487446785, 0.9187526702880859, 0.5199999809265137, 1.5422718524932861, 0.0, 1.0466066598892212, 0.29704636335372925, 0.621634304523468, 1.0364938974380493, 0.24238505959510803, 0.8693773746490479, 1.0613994598388672, 1.4165540933609009, 0.22798120975494385, 1.3587669134140015, 1.2485398054122925, 1.5707963705062866, 0.2094448357820511, 1.5707963705062866, 1.5707963705062866, 0.18732453882694244, 1.4317150115966797, 0.29346826672554016, 1.458004355430603, 1.3159319162368774, 1.3810133934020996, -0.3694620728492737, 3.100595122697337e-18, 1.7115516662597656, 0.006710797548294067, -0.05270987004041672, 0.5199999809265137, 1.638456106185913, 0.0, 0.7255651950836182, 0.2975054383277893, 0.4770451486110687, 1.1135995388031006, 0.30317559838294983, 0.31356582045555115, 0.7466434836387634, 1.5707963705062866, 0.2853967845439911, 1.5707963705062866, 1.5707963705062866, 1.5707963705062866, 0.27503371238708496, 1.5707963705062866, 1.5707963705062866, 0.18506760895252228, 1.565636396408081, 0.29267773032188416, 1.5609934329986572, 1.562216877937317, 0.5626999735832214, -1.106863021850586, 0.8210644721984863, 0.04840897396206856, 0.07077604532241821, 0.12404343485832214, -0.57905513048172], "mean": [1.1185349225997925, -0.6752817034721375, 0.14563080668449402, 1.267613172531128, -0.7237781882286072, 0.07245945930480957, -0.12480705231428146, 1.1891499757766724, -0.18220806121826172, 0.6121628284454346, 0.1252749115228653, 0.21594348549842834, 0.8504769206047058, 0.1267601102590561, 0.4412802755832672, 0.4908736050128937, 1.116323471069336, 0.06577925384044647, 0.6101850271224976, 0.42720791697502136, 1.2590343952178955, 0.014391000382602215, 1.0086989402770996, 0.9693766236305237, 0.12335018813610077, 1.1587233543395996, 0.11680898070335388, 0.8753307461738586, 0.7713742852210999, 1.266370177268982, -0.7341060042381287, -0.1327158510684967, 1.4211177825927734, -1.0748788118362427, -0.501632571220398, -0.05037132650613785, 1.3097478151321411, -0.20221185684204102, 0.36865144968032837, 0.1654948741197586, 0.2894411087036133, 0.9134759902954102, 0.14264455437660217, 0.14730417728424072, 0.38737544417381287, 1.2777868509292603, 0.06431622803211212, 0.9978429079055786, 0.9794384241104126, 1.4347881078720093, -0.011151855811476707, 1.2381073236465454, 1.2041875123977661, 0.07863378524780273, 1.3765925168991089, 0.08490881323814392, 1.050899863243103, 1.2017990350723267, 0.5627175569534302, -1.1068931818008423, 0.7010552287101746, 0.007703506853431463, 0.009864196181297302, 0.04509551078081131, -0.7698540091514587], "std": [0.13738374412059784, 0.22853463888168335, 0.1086253747344017, 0.2574160695075989, 0.4931197166442871, 0.3242882192134857, 0.43589895963668823, 0.2787206470966339, 0.049630582332611084, 0.22353555262088776, 0.1124185174703598, 0.1601244956254959, 0.19032049179077148, 0.06660719215869904, 0.24197883903980255, 0.2942183315753937, 0.2568525969982147, 0.07338756322860718, 0.5261487364768982, 0.3998103141784668, 0.35436755418777466, 0.0806044265627861, 0.6020067930221558, 0.5642604231834412, 0.056564874947071075, 0.2934768497943878, 0.08438712358474731, 0.5563892126083374, 0.5051971077919006, 0.08167815208435059, 0.11019968241453171, 0.030436567962169647, 0.12719795107841492, 0.38747671246528625, 0.21876643598079681, 0.30197787284851074, 0.26032766699790955, 0.067008838057518, 0.20543377101421356, 0.1051546186208725, 0.12927758693695068, 0.19668355584144592, 0.04219513759016991, 0.06323462724685669, 0.1452339142560959, 0.3336176574230194, 0.033775750547647476, 0.5821374654769897, 0.590658962726593, 0.29833996295928955, 0.03234853595495224, 0.4090416133403778, 0.40427809953689575, 0.07190922647714615, 0.3037884831428528, 0.0323941707611084, 0.5056598782539368, 0.4047946035861969, 3.435708276811056e-05, 2.9824259399902076e-05, 0.06225859001278877, 0.025087453424930573, 0.017030417919158936, 0.04060814157128334, 0.08789146691560745], "count": [4268]}, "observation.tactile": {"min": [-3.37109375, -0.04608154296875, -0.25048828125, -0.396484375, -0.1365966796875, -0.0595703125, -2.908203125, -1.021484375, -0.4833984375, -0.1790771484375, -0.101806640625, -0.058319091796875, -0.0107879638671875, -0.0307464599609375, -0.5771484375, -0.074951171875, -0.008758544921875, -0.0002980232238769531, -0.01515960693359375, -0.01152801513671875, -0.0300445556640625, -0.0011053085327148438, -0.00045990943908691406, -0.00035381317138671875, -0.018829345703125, -0.00971221923828125, -0.02099609375, -0.0004394054412841797, -0.0003685951232910156, -0.0004391670227050781, -16.234375, -0.56884765625, -0.06298828125, -0.36181640625, -0.0218048095703125, -0.2646484375, -19.953125, -0.412353515625, -0.055908203125, -0.29736328125, -0.02947998046875, -0.330078125, -24.578125, -3.251953125, -1.53125, -0.378662109375, -0.095703125, -0.3642578125, -0.0161285400390625, -0.00726318359375, -0.033416748046875, -0.0003757476806640625, -0.0005373954772949219, -0.0008144378662109375, -0.00601959228515625, -0.00528717041015625, -0.0082855224609375, -0.0004105567932128906, -0.00042176246643066406, -0.0004398822784423828], "max": [18.546875, 24.3125, 21.28125, 0.00909423828125, 0.0280914306640625, 0.3349609375, 11.734375, 4.63671875, 8.203125, 0.0214080810546875, 0.0092926025390625, 0.197509765625, 4.75, 2.01953125, 3.3984375, 0.00733184814453125, 0.00601959228515625, 0.08843994140625, 0.0107269287109375, 0.01837158203125, 0.045196533203125, 0.0005040168762207031, 0.0006389617919921875, 0.0003638267517089844, 0.018157958984375, 0.0139007568359375, 0.03717041015625, 0.00039196014404296875, 0.0006995201110839844, 0.0003662109375, 3.755859375, 14.0703125, 23.34375, 0.0192718505859375, 0.1031494140625, 0.06768798828125, 10.515625, 14.484375, 15.8828125, 0.009857177734375, 0.020599365234375, 0.1973876953125, 0.0609130859375, 11.203125, 24.25, 0.0128326416015625, 0.0352783203125, 0.0009832382202148438, 0.005077362060546875, 0.00443267822265625, 0.022308349609375, 0.00046062469482421875, 0.001049041748046875, 0.00034618377685546875, 0.022430419921875, 0.00592041015625, 0.0129547119140625, 0.0004010200500488281, 0.0005121231079101562, 0.0005097389221191406], "mean": [3.2280240058898926, 3.7180192470550537, 3.327970027923584, -0.06483472138643265, -0.01761828176677227, 0.05989861488342285, 1.8389149904251099, 0.3951018452644348, 0.8035761713981628, -0.01951984502375126, -0.013633347116410732, 0.03073357790708542, 0.10127352923154831, 0.035437509417533875, 0.04440400004386902, -0.0009587612003087997, -2.0795261661987752e-05, 0.001859386102296412, 4.178559174761176e-05, 5.0635011575650424e-05, 9.91714041447267e-05, 5.987278086649894e-07, 1.7322215626336401e-06, 8.608318324831998e-08, -1.0836314686457627e-05, -1.5333867850131355e-05, -2.0984409275115468e-05, -3.3260172926929954e-07, -3.9960809772310313e-07, -6.394511160578986e-07, -0.11303780972957611, 1.1663891077041626, 1.264173150062561, -0.019683105871081352, 0.003948296420276165, -0.0032076495699584484, -0.19664764404296875, 0.5853565335273743, 1.0006098747253418, -0.019549794495105743, -0.00013378530275076628, -0.003169188741594553, -1.2984964847564697, 0.19410212337970734, 1.1199265718460083, -0.01979932002723217, -0.0036472389474511147, -0.020834725350141525, 1.8928134522866458e-05, 1.1262582120252773e-05, -2.6795834855875e-05, -9.630591648601694e-07, 1.001911073217343e-06, 5.971637051516154e-07, -1.8247847037855536e-06, 3.547649384927354e-06, -4.290193800216002e-08, -8.672000717524497e-07, 2.9226944775473385e-07, -6.184191647662374e-07], "std": [5.419050216674805, 5.884716987609863, 5.252488613128662, 0.10148026049137115, 0.03736880049109459, 0.0980762168765068, 3.14145827293396, 0.8873202204704285, 1.511146068572998, 0.037026867270469666, 0.023994922637939453, 0.05304465815424919, 0.5654114484786987, 0.2122853547334671, 0.3110099136829376, 0.0066119590774178505, 0.0007194963400252163, 0.010354551486670971, 0.002560056047514081, 0.003272460773587227, 0.00919484905898571, 0.00014359113993123174, 0.00016503047663718462, 7.498493505408987e-05, 0.0032143888529390097, 0.00311828195117414, 0.006151965819299221, 0.00012067821808159351, 0.00013296834367793053, 8.954349323175848e-05, 1.2859344482421875, 2.916149377822876, 3.277813196182251, 0.05164877697825432, 0.013435223139822483, 0.02359549142420292, 2.7444863319396973, 1.7947903871536255, 2.5832772254943848, 0.050861258059740067, 0.0031538403127342463, 0.0486239418387413, 4.082765579223633, 0.9094232320785522, 4.0605316162109375, 0.06842270493507385, 0.015130223706364632, 0.06538522243499756, 0.0010216328082606196, 0.0010673176730051637, 0.0024511420633643866, 8.314413571497425e-05, 0.00011052514309994876, 5.9524212701944634e-05, 0.001004718942567706, 0.0011512957280501723, 0.0020215357653796673, 9.928931831382215e-05, 8.088688628049567e-05, 5.2848216000711545e-05], "count": [4268]}, "timestamp": {"min": [0.0], "max": [142.23333740234375], "mean": [71.1166666704985], "std": [41.06884802867827], "count": [4268]}, "frame_index": {"min": [0.0], "max": [4267.0], "mean": [2133.5], "std": [1232.0654406321119], "count": [4268]}, "episode_index": {"min": [1.0], "max": [1.0], "mean": [1.0], "std": [0.0], "count": [4268]}, "index": {"min": [3029.0], "max": [7296.0], "mean": [5162.5], "std": [1232.0654406321119], "count": [4268]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [4268]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31200096011161804]], [[0.2831091582775116]], [[0.331850528717041]]], "std": [[[0.336902379989624]], [[0.33623820543289185]], [[0.352909654378891]]], "count": [4268]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3049542307853699]], [[0.25780895352363586]], [[0.31527599692344666]]], "std": [[[0.19961625337600708]], [[0.1813470870256424]], [[0.2068588137626648]]], "count": [4268]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3054484724998474]], [[0.24622729420661926]], [[0.3172900080680847]]], "std": [[[0.19839705526828766]], [[0.18064723908901215]], [[0.20211002230644226]]], "count": [4268]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.308531254529953]], [[0.28453972935676575]], [[0.32991671562194824]]], "std": [[[0.3346695005893707]], [[0.3328853249549866]], [[0.34940898418426514]]], "count": [4268]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6901960968971252]], [[0.6901960968971252]], [[0.6901960968971252]]], "mean": [[[0.002258656080812216]], [[0.002258656080812216]], [[0.002258656080812216]]], "std": [[[0.030971068888902664]], [[0.030971068888902664]], [[0.030971068888902664]]], "count": [4268]}, "observation.images.tactile_raw": {"min": [[[0.0117647061124444]], [[0.0117647061124444]], [[0.0117647061124444]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49565383791923523]], [[0.49565383791923523]], [[0.49565383791923523]]], "std": [[[0.2200634926557541]], [[0.2200634926557541]], [[0.2200634926557541]]], "count": [4268]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"observation.state": {"min": [0.9175031781196594, -0.9521608948707581, -0.0006076002027839422, 0.8095638751983643, -1.571021318435669, -0.7686768174171448, -0.6185347437858582, 0.0062582907266914845, -0.2677978575229645, 0.005411836318671703, -0.0014250746462494135, 0.0035303824115544558, 0.005177355837076902, -0.00022886150691192597, 0.0032382227946072817, 0.0008212191751226783, 0.0036941864527761936, -0.06293583661317825, 0.006418297067284584, 0.0008203323232010007, 0.0036328579299151897, -0.09836336970329285, 0.006605506408959627, 0.0008553627412766218, 0.0053945560939610004, 0.003522711805999279, -0.0034599113278090954, 0.0040175518952310085, 0.0008487114100717008, 1.0503323078155518, -1.0606976747512817, -0.1796673834323883, 0.9514051079750061, -1.8028737306594849, -0.7740368247032166, -0.5697489380836487, 0.005518598482012749, -0.2936133146286011, 0.005409563891589642, -0.0608067661523819, 0.0032882161904126406, 0.003537676064297557, -1.1529889889061451e-05, 0.003380047855898738, 0.0008660049643367529, 0.004745848476886749, -0.031027615070343018, 0.003471879754215479, 0.0008269837126135826, 0.004749037325382233, -0.08972340822219849, 0.003486416768282652, 0.000815011328086257, 0.007223781663924456, 0.004684764891862869, 0.0002431063912808895, 0.0037633306346833706, 0.0008495982619933784, 0.5622039437294006, -1.1073423624038696, 0.544083833694458, -0.04592354968190193, -0.03777427598834038, -0.04429369419813156, -0.859029233455658], "max": [1.2651264667510986, -0.3788889944553375, 0.2837054133415222, 1.6372332572937012, 0.0025265144649893045, 0.3233388066291809, 0.5025901198387146, 1.4737261533737183, 0.0008603837923146784, 0.9339811205863953, 0.2970450818538666, 0.35502487421035767, 1.0246400833129883, 0.21521364152431488, 0.7838048338890076, 1.0646690130233765, 1.3610649108886719, 0.22604967653751373, 1.2539353370666504, 1.0964243412017822, 1.4687504768371582, 0.22839438915252686, 1.5675522089004517, 1.3081990480422974, 0.17826010286808014, 1.40804922580719, 0.29334279894828796, 1.4455411434173584, 1.2745041847229004, 1.3642834424972534, -0.3381167948246002, -0.0006449909415096045, 1.7996907234191895, 0.007552578113973141, -0.06529281288385391, 0.503473699092865, 1.4537110328674316, -7.371627725660801e-05, 0.6897763013839722, 0.41134026646614075, 0.5134233832359314, 1.1244456768035889, 0.20889165997505188, 0.41798707842826843, 1.0273665189743042, 1.4715521335601807, 0.2755724787712097, 1.5688644647598267, 1.3081848621368408, 1.470030665397644, 0.2587164342403412, 1.5670527219772339, 1.3084819316864014, 0.170456200838089, 1.4682228565216064, 0.28801533579826355, 1.5648504495620728, 1.3081843852996826, 0.563066840171814, -1.1065753698349, 0.8139685392379761, 0.059058260172605515, 0.06548180431127548, 0.13729128241539001, -0.5998823642730713], "mean": [1.0744723081588745, -0.754566490650177, 0.17928065359592438, 1.3308584690093994, -0.5902472734451294, -0.08429877460002899, 0.027980048209428787, 1.247471809387207, -0.18696418404579163, 0.5159776210784912, 0.17486946284770966, 0.1892242431640625, 0.8421532511711121, 0.13518674671649933, 0.38991406559944153, 0.43552595376968384, 1.0390750169754028, 0.0725020170211792, 0.57096266746521, 0.346506804227829, 1.134069800376892, 0.011656736955046654, 1.0792975425720215, 0.7817262411117554, 0.13696451485157013, 1.0673915147781372, 0.10664744675159454, 0.9227687120437622, 0.7213586568832397, 1.2710039615631104, -0.740280270576477, -0.1244354173541069, 1.4500526189804077, -1.1464992761611938, -0.4410475492477417, -0.15103982388973236, 1.2764798402786255, -0.20104824006557465, 0.3433901071548462, 0.18649962544441223, 0.2620393633842468, 0.9371203184127808, 0.1284104883670807, 0.18951261043548584, 0.4046381711959839, 1.3063665628433228, 0.06278709322214127, 1.0663994550704956, 0.9063369631767273, 1.3642637729644775, -0.009417925961315632, 1.3361588716506958, 1.1335200071334839, 0.04238096624612808, 1.3588896989822388, 0.08681561797857285, 1.2802250385284424, 1.1735447645187378, 0.5627037882804871, -1.1068785190582275, 0.7255269289016724, 0.024829506874084473, 0.002229326870292425, 0.03675520047545433, -0.7516663074493408], "std": [0.10709137469530106, 0.167566180229187, 0.09088977426290512, 0.1700538992881775, 0.5017502903938293, 0.2228015810251236, 0.4153832197189331, 0.300510048866272, 0.05457903444766998, 0.1862758994102478, 0.07799666374921799, 0.09310345351696014, 0.19517764449119568, 0.06323408335447311, 0.21627619862556458, 0.29292818903923035, 0.2773631811141968, 0.06550776213407516, 0.4168420433998108, 0.32676663994789124, 0.3288500905036926, 0.05952576547861099, 0.3994826376438141, 0.4019957482814789, 0.04986743628978729, 0.2989548444747925, 0.058007050305604935, 0.39511343836784363, 0.3759517967700958, 0.07322724163532257, 0.14814311265945435, 0.03371652960777283, 0.19415771961212158, 0.3967882990837097, 0.16018523275852203, 0.2509274482727051, 0.28589731454849243, 0.057827580720186234, 0.1647934913635254, 0.10559087246656418, 0.10617353022098541, 0.22031499445438385, 0.04412578046321869, 0.0811658725142479, 0.14784006774425507, 0.3254999816417694, 0.04028492420911789, 0.680019199848175, 0.5584017634391785, 0.32049494981765747, 0.039896685630083084, 0.4310733377933502, 0.3446178734302521, 0.04727614298462868, 0.3213518559932709, 0.038992393761873245, 0.47285711765289307, 0.3328080475330353, 6.161625060485676e-05, 5.689791214535944e-05, 0.05836376175284386, 0.03214339539408684, 0.0245205145329237, 0.043876275420188904, 0.08394268900156021], "count": [3268]}, "observation.state.joint_torque": {"min": [-33.57899856567383, -5.870999813079834, -17.152999877929688, -10.23900032043457, -0.4927999973297119, -4.340000152587891, -2.5023999214172363, -0.9322220683097839, -0.5985579490661621, -0.7381576299667358, -2.0193705558776855, -0.12617947161197662, -1.8124279975891113, -1.8968608379364014, -1.0575830936431885, -0.17980274558067322, -0.7071251273155212, -1.7682926654815674, -0.2291153371334076, -0.06278826296329498, -0.7339901328086853, -0.47493478655815125, -0.3171089291572571, -0.05993425101041794, -0.11874628812074661, -0.4998808801174164, -0.44615086913108826, -0.3187691569328308, -0.05922074615955353, 9.388500213623047, -4.348499774932861, 3.187999963760376, -8.88700008392334, -2.041599988937378, -1.4543999433517456, -3.0023999214172363, -1.8173238039016724, -0.7819459438323975, -1.1308475732803345, -1.5856719017028809, -0.13614100217819214, -2.0609290599823, -1.999523401260376, -1.057583212852478, -0.2161913961172104, -1.901658058166504, -1.4727776050567627, -0.6790447235107422, -0.16125167906284332, -1.0861135721206665, -0.6601113677024841, -0.6873460412025452, -0.13699255883693695, -0.0809234082698822, -1.3470878601074219, -0.4787726402282715, -0.5263011455535889, -0.15126262605190277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-5.935500144958496, 17.99850082397461, 3.0230000019073486, 4.249000072479248, 1.892799973487854, 2.0480000972747803, 3.1928000450134277, 2.922745704650879, 2.8425133228302, 2.390934705734253, 0.5865494608879089, 0.8882369995117188, 1.730873465538025, 1.0544512271881104, 1.0592433214187622, 0.21476440131664276, 1.1484787464141846, 0.4048939347267151, 0.1411217600107193, 0.04994520545005798, 0.6169355511665344, 0.45574551820755005, 0.18262816965579987, 0.057793740183115005, 0.10423287004232407, 0.7128819227218628, 0.3482855260372162, 0.18262816965579987, 0.050658710300922394, 37.759498596191406, 10.477499961853027, 18.402999877929688, 9.769000053405762, 0.008799999952316284, 2.2007999420166016, 0.9079999923706055, 3.4232420921325684, 4.613990306854248, 2.781139373779297, 1.0351603031158447, 0.8882369995117188, 1.8460091352462769, 1.1897356510162354, 1.0592433214187622, 0.21405090391635895, 1.6243730783462524, 0.678341269493103, 1.057583212852478, 0.21405090391635895, 0.39913710951805115, 0.3195016086101532, 0.167685866355896, 0.08633385598659515, 0.07740499079227448, 0.42983999848365784, 0.442313015460968, 0.20089098811149597, 0.08633385598659515, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-23.647212982177734, 5.338011741638184, -11.809003829956055, -4.854630947113037, 0.2799765467643738, -0.7382773756980896, 1.2931286096572876, 0.20257754623889923, 0.2761410176753998, 0.17285555601119995, -0.16427911818027496, 0.03817879408597946, 0.022641902789473534, -0.06478019058704376, -0.004921826999634504, 0.025724787265062332, 0.021219413727521896, -0.08952120691537857, 0.002723563462495804, -0.0011030185269191861, 0.0009195390739478171, -0.022639038041234016, 0.008509640581905842, 0.0011619542492553592, -0.0005562101141549647, 0.016030797734856606, -0.010615786537528038, 0.0013686774764209986, 0.001929179416038096, 24.200897216796875, 1.6775290966033936, 12.747922897338867, -4.316986083984375, -0.9365983009338379, 0.5759552121162415, -1.206117033958435, 0.1162632629275322, 0.36366358399391174, 0.18183493614196777, 0.018952149897813797, 0.054896220564842224, 0.1416763961315155, 0.015058991499245167, 0.09160633385181427, 0.02592911757528782, 0.11750289797782898, -0.1616412103176117, 0.03931933641433716, 0.019054295495152473, -0.009145136922597885, -0.03082943707704544, 0.004987882450222969, 0.0006148175452835858, -0.002933398587629199, 0.010276648215949535, -0.015460362657904625, 0.005028525833040476, 0.00393537525087595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [4.916440010070801, 2.7466788291931152, 3.8807289600372314, 1.815126895904541, 0.4226565361022949, 0.9996031522750854, 1.1501284837722778, 0.685535192489624, 0.6865347027778625, 0.5552687048912048, 0.49001753330230713, 0.1105097159743309, 0.5216058492660522, 0.4436814785003662, 0.35474151372909546, 0.08031366020441055, 0.21273159980773926, 0.23206038773059845, 0.023756204172968864, 0.012171022593975067, 0.06555206328630447, 0.07733046263456345, 0.02580057457089424, 0.009885299950838089, 0.011002611368894577, 0.10038471221923828, 0.07807015627622604, 0.027810625731945038, 0.012779044918715954, 3.1174561977386475, 1.6244769096374512, 1.971496343612671, 1.5549519062042236, 0.2979760468006134, 0.6021466851234436, 0.6559410095214844, 0.5905242562294006, 0.890548050403595, 0.5595476627349854, 0.33915629982948303, 0.1344243735074997, 0.42493119835853577, 0.3105584681034088, 0.25726306438446045, 0.06855463236570358, 0.41956135630607605, 0.3464652895927429, 0.14172115921974182, 0.05325429141521454, 0.07047165930271149, 0.09801795333623886, 0.0265485979616642, 0.007910548709332943, 0.011545776389539242, 0.07470884174108505, 0.08755674213171005, 0.03487898409366608, 0.00918036513030529, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3268]}, "observation.state.tcp": {"min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3268]}, "action": {"min": [0.9175184965133667, -0.9512620568275452, 0.0, 0.8097668886184692, -1.5780308246612549, -0.7699999809265137, -0.6216825246810913, 0.0, -0.27384093403816223, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.057641588151454926, 0.0, 0.0, 0.0, -0.1049375832080841, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0499999523162842, -1.060357689857483, -0.17985005676746368, 0.9495671391487122, -1.8169206380844116, -0.7699999809265137, -0.5690432190895081, 0.0, -0.2938508987426758, 0.0, -0.0773153305053711, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.03735009953379631, 0.0, 0.0, 0.0, -0.09650076925754547, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5626833438873291, -1.1069588661193848, 0.5442000031471252, -0.04686396196484566, -0.03862005099654198, -0.0460917092859745, -0.859217643737793], "max": [1.2652356624603271, -0.3763834834098816, 0.2847451865673065, 1.6410160064697266, 0.001444607158191502, 0.345340758562088, 0.5199999809265137, 1.4744130373001099, 0.003899388713762164, 1.0250775814056396, 0.29668495059013367, 0.3574255406856537, 1.0333778858184814, 0.24883362650871277, 0.791017472743988, 1.0652928352355957, 1.3551299571990967, 0.22963273525238037, 1.2575819492340088, 1.0972572565078735, 1.5707963705062866, 0.2305116057395935, 1.5707963705062866, 1.5707963705062866, 0.18787266314029694, 1.4144184589385986, 0.2931608557701111, 1.4492157697677612, 1.2760274410247803, 1.3649773597717285, -0.336480051279068, -3.184459035896179e-18, 1.8025295734405518, 0.006300909444689751, -0.04000440239906311, 0.5199999809265137, 1.456524133682251, 0.0, 0.6958247423171997, 0.295266330242157, 0.5156737565994263, 1.1305174827575684, 0.30282434821128845, 0.4221530556678772, 0.6737958788871765, 1.5707963705062866, 0.28144362568855286, 1.5707963705062866, 1.5707963705062866, 1.5707963705062866, 0.2674476206302643, 1.5707963705062866, 1.5707963705062866, 0.18506436049938202, 1.5707963705062866, 0.2920747399330139, 1.5707963705062866, 1.5707963705062866, 0.5626999735832214, -1.106863021850586, 0.8145487308502197, 0.060813840478658676, 0.06652145087718964, 0.13759446144104004, -0.6000000238418579], "mean": [1.0725637674331665, -0.7531055212020874, 0.17814694344997406, 1.3316893577575684, -0.5894229412078857, -0.06691447645425797, 0.03009198233485222, 1.2465167045593262, -0.18491874635219574, 0.5296598076820374, 0.1597362458705902, 0.18738868832588196, 0.8408119678497314, 0.13364467024803162, 0.39076635241508484, 0.4524938762187958, 1.0348591804504395, 0.07188595086336136, 0.5702970027923584, 0.3461889326572418, 1.1590205430984497, 0.012153180316090584, 1.0790114402770996, 0.8460490703582764, 0.13924328982830048, 1.067867636680603, 0.10629381984472275, 0.9224042296409607, 0.7211272120475769, 1.2696588039398193, -0.7397331595420837, -0.12480013817548752, 1.4507631063461304, -1.1541459560394287, -0.4311346709728241, -0.1458202302455902, 1.2736315727233887, -0.19911201298236847, 0.346964031457901, 0.18436263501644135, 0.26083073019981384, 0.9360931515693665, 0.1298535019159317, 0.19097121059894562, 0.4037609398365021, 1.3695043325424194, 0.058212269097566605, 1.0657871961593628, 1.0696449279785156, 1.436795949935913, -0.012704415246844292, 1.339219331741333, 1.298973798751831, 0.03664592280983925, 1.4209144115447998, 0.08378030359745026, 1.2815132141113281, 1.3428118228912354, 0.562710165977478, -1.1068809032440186, 0.7255766987800598, 0.024854641407728195, 0.002214039908722043, 0.03678523376584053, -0.7517349123954773], "std": [0.1050877645611763, 0.16761383414268494, 0.093004509806633, 0.17039044201374054, 0.5029855370521545, 0.22931146621704102, 0.42413529753685, 0.3069881200790405, 0.05419266223907471, 0.2168949991464615, 0.08676330000162125, 0.09498222172260284, 0.19990608096122742, 0.06756306439638138, 0.21519798040390015, 0.3160415589809418, 0.2822677195072174, 0.06627684086561203, 0.41681861877441406, 0.32694655656814575, 0.3604329824447632, 0.06187407299876213, 0.40236058831214905, 0.4906197786331177, 0.057316508144140244, 0.3027825653553009, 0.05907142162322998, 0.39707648754119873, 0.3766014277935028, 0.07345880568027496, 0.148342102766037, 0.034076862037181854, 0.19430899620056152, 0.40003645420074463, 0.16494877636432648, 0.25645866990089417, 0.29165881872177124, 0.05896608904004097, 0.16896329820156097, 0.10429924726486206, 0.1062430888414383, 0.224458247423172, 0.04844408482313156, 0.08209457993507385, 0.14333844184875488, 0.3582465946674347, 0.042503952980041504, 0.6802606582641602, 0.6758069396018982, 0.348494291305542, 0.041223227977752686, 0.43239831924438477, 0.43738383054733276, 0.05164150521159172, 0.3469442129135132, 0.041036393493413925, 0.4716495871543884, 0.4097902476787567, 2.632215546327643e-05, 1.835493094404228e-05, 0.05843760445713997, 0.03220072388648987, 0.024589452892541885, 0.04393606260418892, 0.08396736532449722], "count": [3268]}, "observation.tactile": {"min": [-8.75, -0.27783203125, -0.06134033203125, -0.486572265625, -0.1727294921875, -0.1414794921875, -3.283203125, -0.025909423828125, -0.3193359375, -0.1763916015625, -0.073486328125, -0.060943603515625, -0.012939453125, -0.1180419921875, -0.2216796875, -0.024444580078125, -0.0042724609375, -0.0008611679077148438, -0.01531219482421875, -0.0106658935546875, -0.0241241455078125, -0.00098419189453125, -0.0005178451538085938, -0.0003838539123535156, -0.016265869140625, -0.01314544677734375, -0.021240234375, -0.0004146099090576172, -0.00045680999755859375, -0.0004634857177734375, -16.9375, -0.105224609375, -0.0850830078125, -0.401611328125, -0.021392822265625, -0.27001953125, -26.25, -2.029296875, -0.392822265625, -0.37451171875, -0.04931640625, -0.371826171875, -17.890625, -0.167236328125, -0.5693359375, -0.26513671875, -0.061126708984375, -0.263916015625, -0.0186920166015625, -0.0170440673828125, -0.0107879638671875, -0.0007195472717285156, -0.0004029273986816406, -0.0007076263427734375, -0.007053375244140625, -0.008209228515625, -0.01116943359375, -0.00033926963806152344, -0.000453948974609375, -0.0004413127899169922], "max": [21.59375, 18.578125, 27.34375, 0.0110321044921875, 0.0615234375, 0.3662109375, 11.46875, 5.15625, 7.6328125, 0.00763702392578125, 0.0196533203125, 0.197509765625, 2.458984375, 0.89111328125, 1.1552734375, 0.00872802734375, 0.006046295166015625, 0.045013427734375, 0.0093536376953125, 0.023406982421875, 0.0460205078125, 0.0005559921264648438, 0.0006365776062011719, 0.0003185272216796875, 0.0198211669921875, 0.0148773193359375, 0.0299530029296875, 0.000553131103515625, 0.0006909370422363281, 0.00038313865661621094, 18.890625, 19.515625, 28.5, 0.00736236572265625, 0.11297607421875, 0.338134765625, 12.03125, 12.578125, 22.0625, 0.004512786865234375, 0.03399658203125, 0.23095703125, 0.0975341796875, 11.6328125, 14.1796875, 0.002101898193359375, 0.029296875, 0.0007271766662597656, 0.00881195068359375, 0.008758544921875, 0.0411376953125, 0.0003132820129394531, 0.001613616943359375, 0.00035381317138671875, 0.0141754150390625, 0.005374908447265625, 0.02264404296875, 0.0004792213439941406, 0.0011301040649414062, 0.0003933906555175781], "mean": [2.1547060012817383, 1.7400051355361938, 2.496976852416992, -0.041986070573329926, -0.013585611246526241, 0.0364844836294651, 0.9589881300926208, 0.43341079354286194, 0.6528366804122925, -0.01679195463657379, -0.006326818838715553, 0.016253221780061722, 0.05301235616207123, 0.015143655240535736, 0.00646138284355402, -6.263297109398991e-05, 0.00013857624435331672, 0.0009864016901701689, -5.208639777265489e-05, 4.224882286507636e-05, -0.00014411805022973567, -2.4046133262345393e-07, -1.223463755195553e-06, -6.865112709419918e-07, 3.42841049132403e-05, 7.132129667297704e-06, -4.1053521272260696e-05, -8.171016219193916e-08, 4.0369926068706263e-07, 5.3768204111293016e-08, 0.28838402032852173, 1.9307680130004883, 2.2540810108184814, -0.03689347580075264, 0.00359770143404603, 0.004613120574504137, -0.5096650123596191, 1.0401647090911865, 2.131239414215088, -0.04055876284837723, -0.0003932936233468354, -0.008093933574855328, -1.1432995796203613, 0.34768804907798767, 0.7387130260467529, -0.016192400828003883, -0.0034184290561825037, -0.018623294308781624, -2.2653559426544234e-05, -2.4563078113715164e-05, 0.00012101975153200328, -6.150878562038997e-07, 6.060176474420587e-06, -1.9483495634631254e-06, -7.527110938099213e-06, 1.0546447128945147e-06, 5.92608776059933e-05, -1.423562480340479e-06, 4.3016387962779845e-07, -8.74444651799422e-07], "std": [5.878032684326172, 3.464561939239502, 5.335587024688721, 0.08935509622097015, 0.03938877210021019, 0.1011466383934021, 2.664024591445923, 0.9513393044471741, 1.5161094665527344, 0.03658764436841011, 0.01745389960706234, 0.046093184500932693, 0.2711261510848999, 0.09233567863702774, 0.06299614161252975, 0.0011898878728970885, 0.0006983380881138146, 0.005076158791780472, 0.0028529539704322815, 0.0034499727189540863, 0.008686169050633907, 0.00014094350626692176, 0.0001713497331365943, 9.0190333139617e-05, 0.0036604395136237144, 0.0035730935633182526, 0.006426965817809105, 0.0001237844699062407, 0.00015680382784921676, 0.00010381742322351784, 3.345839500427246, 3.8227202892303467, 4.738924980163574, 0.07654515653848648, 0.012331503443419933, 0.0559663251042366, 3.8532004356384277, 2.1401140689849854, 4.346087455749512, 0.07976244390010834, 0.005305069964379072, 0.06546227633953094, 3.305399179458618, 1.1321455240249634, 2.34590220451355, 0.049318935722112656, 0.011693107895553112, 0.05331868678331375, 0.001147716655395925, 0.001240250770933926, 0.0027525185141712427, 8.339781925315037e-05, 0.00012114888522773981, 6.631659925915301e-05, 0.0010248179314658046, 0.0012671442236751318, 0.002058075973764062, 0.0001062448209268041, 8.303896174766123e-05, 5.562190563068725e-05], "count": [3268]}, "timestamp": {"min": [0.0], "max": [108.9000015258789], "mean": [54.44999999955702], "std": [31.44634319098273], "count": [3268]}, "frame_index": {"min": [0.0], "max": [3267.0], "mean": [1633.5], "std": [943.3902956889052], "count": [3268]}, "episode_index": {"min": [2.0], "max": [2.0], "mean": [2.0], "std": [0.0], "count": [3268]}, "index": {"min": [7297.0], "max": [10564.0], "mean": [8930.5], "std": [943.3902956889052], "count": [3268]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [3268]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2992520034313202]], [[0.2640269696712494]], [[0.3204730451107025]]], "std": [[[0.3315050005912781]], [[0.32200995087623596]], [[0.34820640087127686]]], "count": [3268]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30714231729507446]], [[0.24849267303943634]], [[0.3179706633090973]]], "std": [[[0.20235949754714966]], [[0.1774108111858368]], [[0.2093142867088318]]], "count": [3268]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3113245368003845]], [[0.23769216239452362]], [[0.32230037450790405]]], "std": [[[0.20190978050231934]], [[0.1790493279695511]], [[0.20452918112277985]]], "count": [3268]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.297089159488678]], [[0.26711323857307434]], [[0.3203718066215515]]], "std": [[[0.3300737738609314]], [[0.319735586643219]], [[0.34616318345069885]]], "count": [3268]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6352941393852234]], [[0.6352941393852234]], [[0.6352941393852234]]], "mean": [[[0.0024130737874656916]], [[0.0024130737874656916]], [[0.0024130737874656916]]], "std": [[[0.03212224319577217]], [[0.03212224319577217]], [[0.03212224319577217]]], "count": [3268]}, "observation.images.tactile_raw": {"min": [[[0.0117647061124444]], [[0.0117647061124444]], [[0.0117647061124444]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4950368404388428]], [[0.4950368404388428]], [[0.4950368404388428]]], "std": [[[0.2199188619852066]], [[0.2199188619852066]], [[0.2199188619852066]]], "count": [3268]}}}
|
| 4 |
+
{"episode_index": 3, "stats": {"observation.state": {"min": [0.916527509689331, -0.9360595941543579, -0.0006366019952110946, 0.8745861053466797, -1.5977270603179932, -0.7693695425987244, -0.6214200854301453, 0.006264613941311836, -0.2859598696231842, 0.005442519672214985, -0.001432461547665298, 0.003535700961947441, 0.005175393540412188, 0.00013664011203218251, 0.003203475382179022, 0.0008145678439177573, 0.003696639556437731, -0.045912016183137894, 0.006380003876984119, 0.000828313990496099, 0.003611760912463069, -0.09130551666021347, 0.006612243130803108, 0.0008256534347310662, 0.005408470518887043, 0.003478309838101268, 6.255465996218845e-05, 0.003972877282649279, 0.000859353574924171, 1.0502903461456299, -1.061312198638916, -0.17089515924453735, 0.9769842624664307, -1.852620244026184, -0.7749528288841248, -0.5658347010612488, 0.005375683307647705, -0.29611659049987793, -0.013810381293296814, -0.05779697000980377, 0.0032424775417894125, 0.003560735611245036, -0.0004776269197463989, 0.003377211280167103, 0.0008695523720234632, 0.004811592400074005, -0.031047463417053223, 0.003516909433528781, 0.000826096860691905, 0.004767190665006638, -0.09342741966247559, 0.0034988264087587595, 0.000810577068477869, 0.006036765407770872, 0.0046980120241642, -0.0006255507469177246, 0.0037441840395331383, 0.0008522588177584112, 0.5623956918716431, -1.1072465181350708, 0.544083833694458, -0.041417479515075684, -0.024351945146918297, -0.0866699144244194, -0.8728350400924683], "max": [1.2676582336425781, -0.3372230529785156, 0.24799016118049622, 1.5976439714431763, 0.00324628665111959, 0.37895843386650085, 0.5033329129219055, 1.5478639602661133, 0.0008587578777223825, 0.8396666646003723, 0.2952232360839844, 0.36356452107429504, 0.9956100583076477, 0.21042315661907196, 0.7914556264877319, 0.8296535611152649, 1.3494280576705933, 0.2304079383611679, 1.2656309604644775, 1.083994746208191, 1.4687789678573608, 0.21128028631210327, 1.5675448179244995, 1.3082146644592285, 0.17835964262485504, 1.4209623336791992, 0.2923029065132141, 1.4455549716949463, 1.3002493381500244, 1.3724145889282227, -0.37119433283805847, -0.0006296511855907738, 1.775515079498291, 0.007807243149727583, -0.04544622078537941, 0.5044685006141663, 1.567710518836975, 1.9332626834511757e-05, 0.6952936053276062, 0.411365270614624, 0.6062723994255066, 1.1064562797546387, 0.2116909623146057, 0.42956215143203735, 0.7092695832252502, 1.4713833332061768, 0.2717578411102295, 1.5688631534576416, 1.3081685304641724, 1.4696061611175537, 0.2570277154445648, 1.5666173696517944, 1.3084651231765747, 0.1778298318386078, 1.4679820537567139, 0.2891275882720947, 1.5686476230621338, 1.3082119226455688, 0.5628750920295715, -1.1065753698349, 0.8327597975730896, 0.04601942375302315, 0.08916263282299042, 0.10009224712848663, -0.5970061421394348], "mean": [1.0797853469848633, -0.7258225083351135, 0.17445071041584015, 1.326980471611023, -0.6415992379188538, -0.07772435992956161, 0.02090001292526722, 1.2453622817993164, -0.18691767752170563, 0.520707368850708, 0.1490103155374527, 0.1956687867641449, 0.8608728647232056, 0.13592541217803955, 0.37115901708602905, 0.39773428440093994, 1.0833125114440918, 0.07531195133924484, 0.47748053073883057, 0.3281635046005249, 1.1401474475860596, 0.01856539025902748, 0.959276020526886, 0.7411308288574219, 0.13702581822872162, 1.0704251527786255, 0.11149193346500397, 0.8616974353790283, 0.7000484466552734, 1.2833755016326904, -0.7591500878334045, -0.12132091820240021, 1.4721890687942505, -1.1897411346435547, -0.42835360765457153, -0.2240401804447174, 1.3081954717636108, -0.19854548573493958, 0.30808353424072266, 0.20341701805591583, 0.2648240327835083, 0.8920032978057861, 0.135069340467453, 0.23708148300647736, 0.30770912766456604, 1.3033039569854736, 0.06825878471136093, 1.0787160396575928, 0.9365618228912354, 1.378173589706421, -0.0033207209780812263, 1.4157121181488037, 1.1898493766784668, 0.031420186161994934, 1.3734607696533203, 0.09181364625692368, 1.3582288026809692, 1.2087938785552979, 0.5627034902572632, -1.1068750619888306, 0.7220279574394226, 0.021832119673490524, 0.0294155552983284, 0.004105287604033947, -0.7600177526473999], "std": [0.10702827572822571, 0.19054009020328522, 0.08738765120506287, 0.17281189560890198, 0.5026838779449463, 0.23440484702587128, 0.4074949324131012, 0.32781490683555603, 0.05270181596279144, 0.17954257130622864, 0.06865915656089783, 0.11333608627319336, 0.21104149520397186, 0.05988714098930359, 0.24184831976890564, 0.2327372133731842, 0.29014506936073303, 0.06607869267463684, 0.45086759328842163, 0.38875308632850647, 0.3318121135234833, 0.0638064369559288, 0.48574528098106384, 0.42448288202285767, 0.05130988359451294, 0.310113787651062, 0.06304113566875458, 0.4474501311779022, 0.40664735436439514, 0.0887763574719429, 0.12948887050151825, 0.034446410834789276, 0.18551042675971985, 0.3985140919685364, 0.14908698201179504, 0.2361677587032318, 0.31017225980758667, 0.06006108224391937, 0.19405563175678253, 0.11383882910013199, 0.09770623594522476, 0.22805114090442657, 0.0486474446952343, 0.07871998101472855, 0.1556960642337799, 0.3361240029335022, 0.04286079481244087, 0.6567553877830505, 0.5579057931900024, 0.3309400975704193, 0.040366727858781815, 0.3842119574546814, 0.3244435787200928, 0.02995440736413002, 0.3327128291130066, 0.04124874621629715, 0.3904464840888977, 0.32158198952674866, 5.868891821592115e-05, 5.287156091071665e-05, 0.062055252492427826, 0.02182210236787796, 0.02159026451408863, 0.04222108796238899, 0.08799190074205399], "count": [2959]}, "observation.state.joint_torque": {"min": [-33.54750061035156, -2.0280001163482666, -16.08300018310547, -7.866000175476074, -0.487199991941452, -2.1663999557495117, -0.9567999839782715, -0.7819458842277527, -0.4610169529914856, -0.7381576299667358, -1.759648323059082, -0.11787818372249603, -0.5670433640480042, -1.9304420948028564, -1.0559228658676147, -0.08490685373544693, -0.6533951759338379, -1.1839789152145386, -0.17266662418842316, -0.0642152652144432, -1.1494381427764893, -0.40393444895744324, -0.48811525106430054, -0.16125167906284332, -0.09763585031032562, -1.2674522399902344, -0.4528671205043793, -0.667422890663147, -0.15126264095306396, 11.965499877929688, -2.7674999237060547, 5.497000217437744, -8.5, -2.060800075531006, -1.3552000522613525, -2.958400011062622, -1.8084090948104858, -0.644404947757721, -0.7878652215003967, -1.552119255065918, -0.17432688176631927, -1.870955228805542, -1.9371583461761475, -1.057583212852478, -0.21476441621780396, -1.6704272031784058, -1.3125470876693726, -0.22579482197761536, -0.0706367939710617, -0.722476601600647, -0.6380437016487122, -0.5877305865287781, -0.1462681144475937, -0.09675624221563339, -0.5958272814750671, -0.5478541254997253, -0.254019170999527, -0.06064775213599205, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.49250030517578, 9.178500175476074, -3.927999973297119, 0.7009999752044678, 1.9279999732971191, 2.1552000045776367, 2.789599895477295, 2.5597903728485107, 3.257683515548706, 2.3760223388671875, 0.6089178919792175, 0.6192755699157715, 1.3797096014022827, 0.37706947326660156, 1.0575830936431885, 0.21405088901519775, 1.0765188932418823, 0.4634212255477905, 0.18262816965579987, 0.10559843480587006, 0.4499887228012085, 0.30894750356674194, 0.3005063533782959, 0.07563132047653198, 0.0725671797990799, 0.44135352969169617, 0.34924498200416565, 0.24903841316699982, 0.04851820319890976, 32.01900100708008, 11.989500045776367, 15.355999946594238, 4.004000186920166, 0.1120000034570694, 2.2695999145507812, 0.7663999795913696, 3.1774511337280273, 4.747710704803467, 2.782382011413574, 0.924561083316803, 0.9231024384498596, 1.730873465538025, 1.1503976583480835, 1.0559228658676147, 0.21405090391635895, 2.142483711242676, 0.5181106925010681, 1.0559228658676147, 0.21405090391635895, 0.3223799765110016, 0.38474515080451965, 0.16436535120010376, 0.0642152726650238, 0.07520598918199539, 0.4020155072212219, 0.4125696122646332, 0.20587174594402313, 0.0321076363325119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-24.892576217651367, 4.824087142944336, -12.598320007324219, -5.241647720336914, 0.3121524453163147, -0.499064564704895, 1.43955659866333, 0.2134491354227066, 0.29707080125808716, 0.2399625927209854, -0.19443872570991516, 0.04143567010760307, 0.1200132966041565, -0.16006803512573242, 0.02958167903125286, 0.01779555343091488, 0.04539576917886734, -0.07698337733745575, 0.001837554620578885, 0.0023095246870070696, 0.0002065441949525848, -0.019947057589888573, 0.0066937776282429695, 0.003711227560415864, -0.0014742761850357056, 0.007030779495835304, -0.01788872480392456, 0.007299728691577911, 0.00464390916749835, 24.47970199584961, 1.8721498250961304, 13.080265998840332, -4.174170970916748, -1.011922001838684, 0.6994259357452393, -1.1036020517349243, 0.06274162977933884, 0.3538421392440796, 0.24311082065105438, -0.020629720762372017, 0.06865064054727554, 0.1160745844244957, 0.008341138251125813, 0.07303735613822937, 0.02001919038593769, 0.1750974804162979, -0.11102823913097382, 0.06274577230215073, 0.018685046583414078, 0.00010830583050847054, -0.022614046931266785, 0.004722663201391697, 0.0003185355744790286, -0.003218177007511258, 0.016245074570178986, -0.017813829705119133, 0.01058381050825119, 0.004383469931781292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [3.5318753719329834, 2.7818541526794434, 2.480419874191284, 1.2326629161834717, 0.40116801857948303, 0.8682361245155334, 0.880861222743988, 0.7078787684440613, 0.7506499886512756, 0.5862293839454651, 0.465752512216568, 0.10719418525695801, 0.3578214943408966, 0.40144628286361694, 0.2399493157863617, 0.05303161218762398, 0.21331952512264252, 0.21839462220668793, 0.02275840751826763, 0.012695806100964546, 0.0672382041811943, 0.06851040571928024, 0.028293611481785774, 0.011295435950160027, 0.012424799613654613, 0.10609476268291473, 0.0726705864071846, 0.030260246247053146, 0.012940670363605022, 3.100245237350464, 1.564478874206543, 1.7524034976959229, 1.4857661724090576, 0.2686055302619934, 0.5829136371612549, 0.6194814443588257, 0.5419948697090149, 0.912659227848053, 0.5102916955947876, 0.278376042842865, 0.14572732150554657, 0.4096106290817261, 0.31767475605010986, 0.23204199969768524, 0.058093149214982986, 0.5381873846054077, 0.2641425132751465, 0.22575880587100983, 0.0510157085955143, 0.05405409261584282, 0.08903875946998596, 0.021890204399824142, 0.007488217670470476, 0.011694308370351791, 0.05956818908452988, 0.08551567792892456, 0.030927486717700958, 0.008985240943729877, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2959]}, "observation.state.tcp": {"min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2959]}, "action": {"min": [0.9160590171813965, -0.9354326725006104, -0.00013710185885429382, 0.8748141527175903, -1.604751467704773, -0.7699999809265137, -0.6253607869148254, 0.0, -0.2847675383090973, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.04394149035215378, 0.0, 0.0, 0.0, -0.0960751622915268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0499999523162842, -1.0611602067947388, -0.1713002771139145, 0.9757199287414551, -1.8645721673965454, -0.7727726697921753, -0.5670760869979858, 0.0, -0.29387959837913513, -0.01745871640741825, -0.06730499118566513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.03854141756892204, 0.0, 0.0, 0.0, -0.09786495566368103, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5442000031471252, -0.04235624894499779, -0.025854434818029404, -0.08830977976322174, -0.8726646304130554], "max": [1.2670308351516724, -0.3347754180431366, 0.24898378551006317, 1.6013847589492798, 0.0026175968814641237, 0.3980139195919037, 0.5199999809265137, 1.5497807264328003, 0.0, 0.9621999263763428, 0.2948647737503052, 0.36540237069129944, 1.0005520582199097, 0.24709421396255493, 0.8020862936973572, 0.8318159580230713, 1.3524376153945923, 0.23427820205688477, 1.2719546556472778, 1.0845227241516113, 1.5707963705062866, 0.21336235105991364, 1.5707963705062866, 1.5707963705062866, 0.1882011443376541, 1.4281210899353027, 0.29342886805534363, 1.4487167596817017, 1.3012226819992065, 1.37252938747406, -0.3696076571941376, 2.002325337688327e-17, 1.7769752740859985, 0.006405389402061701, -0.007908887229859829, 0.5199999809265137, 1.5667840242385864, 0.0, 0.6979747414588928, 0.2950805127620697, 0.6087341904640198, 1.1113815307617188, 0.30137649178504944, 0.4348699450492859, 0.7103762030601501, 1.5707963705062866, 0.27628907561302185, 1.5707963705062866, 1.5707963705062866, 1.5707963705062866, 0.2618843615055084, 1.5707963705062866, 1.5707963705062866, 0.18527859449386597, 1.5707963705062866, 0.29209133982658386, 1.5707963705062866, 1.5707963705062866, 0.5627788305282593, -1.106863021850586, 0.8336159586906433, 0.04796028882265091, 0.09073225408792496, 0.100462906062603, -0.5964992046356201], "mean": [1.0789850950241089, -0.7243698835372925, 0.17422831058502197, 1.3284094333648682, -0.6416928768157959, -0.06370918452739716, 0.025566531345248222, 1.2450224161148071, -0.18234890699386597, 0.5377635359764099, 0.13206961750984192, 0.19694124162197113, 0.861242413520813, 0.13422517478466034, 0.36814820766448975, 0.3991010785102844, 1.0804862976074219, 0.07583170384168625, 0.47552815079689026, 0.32844278216362, 1.1648507118225098, 0.018653804436326027, 0.9592931270599365, 0.8067318201065063, 0.13574102520942688, 1.0687488317489624, 0.11149785667657852, 0.8623021841049194, 0.7001588344573975, 1.282352089881897, -0.7588372230529785, -0.12151798605918884, 1.4727057218551636, -1.19805109500885, -0.42010897397994995, -0.21958313882350922, 1.3060647249221802, -0.19704535603523254, 0.31276097893714905, 0.20108972489833832, 0.2667735517024994, 0.8908404111862183, 0.13638629019260406, 0.23944500088691711, 0.3077942430973053, 1.3461538553237915, 0.0647820234298706, 1.0797227621078491, 1.07991623878479, 1.4561535120010376, -0.005973426625132561, 1.4178327322006226, 1.3606473207473755, 0.02612834982573986, 1.4391851425170898, 0.08924149721860886, 1.3597538471221924, 1.387372374534607, 0.5627066493034363, -1.1068754196166992, 0.7220712900161743, 0.021861018612980843, 0.029455039650201797, 0.004106589127331972, -0.7600842118263245], "std": [0.10572432726621628, 0.19049715995788574, 0.08879293501377106, 0.17333823442459106, 0.5041771531105042, 0.23847834765911102, 0.41254356503486633, 0.3307318091392517, 0.055992282927036285, 0.21115174889564514, 0.0762331634759903, 0.11374403536319733, 0.2147306650876999, 0.06556630879640579, 0.24380670487880707, 0.2356462925672531, 0.29367688298225403, 0.06719843298196793, 0.4524298906326294, 0.3886467516422272, 0.3625204563140869, 0.06658422201871872, 0.4884565472602844, 0.5162734389305115, 0.057850807905197144, 0.31476953625679016, 0.06484208256006241, 0.44877302646636963, 0.4070480465888977, 0.0892031341791153, 0.12949255108833313, 0.034902893006801605, 0.18567641079425812, 0.4028359651565552, 0.1551312655210495, 0.24098430573940277, 0.31572648882865906, 0.06054764986038208, 0.19575326144695282, 0.11254256218671799, 0.0995909571647644, 0.23238013684749603, 0.052638616412878036, 0.0804295539855957, 0.1562572419643402, 0.3590138256549835, 0.04483970254659653, 0.6571294665336609, 0.651309609413147, 0.35530662536621094, 0.042495761066675186, 0.38412192463874817, 0.39731189608573914, 0.0332547128200531, 0.3548252582550049, 0.043160274624824524, 0.38780373334884644, 0.3855719268321991, 2.3062168111209758e-05, 1.317262740485603e-05, 0.062142591923475266, 0.021871292963624, 0.021656757220625877, 0.04229546710848808, 0.08800872415304184], "count": [2959]}, "observation.tactile": {"min": [-0.63037109375, -0.0272216796875, -0.05743408203125, -0.327880859375, -0.1436767578125, -0.01508331298828125, -1.853515625, -0.216552734375, -0.3876953125, -0.1634521484375, -0.0745849609375, -0.04254150390625, -0.0116119384765625, -0.019561767578125, -0.110107421875, -0.038818359375, -0.005092620849609375, -0.0003552436828613281, -0.01214599609375, -0.01678466796875, -0.0294647216796875, -0.00093841552734375, -0.0005340576171875, -0.0004200935363769531, -0.0178070068359375, -0.01019287109375, -0.022979736328125, -0.0004436969757080078, -0.0003509521484375, -0.0004487037658691406, -15.6484375, -0.1207275390625, -0.0863037109375, -0.413330078125, -0.042144775390625, -0.2452392578125, -23.796875, -0.9404296875, -0.2391357421875, -0.288330078125, -0.02459716796875, -0.357177734375, -14.4609375, -0.034942626953125, -0.038330078125, -0.57177734375, -0.083984375, -0.23388671875, -0.006561279296875, -0.00800323486328125, -0.02081298828125, -0.0003643035888671875, -0.0007863044738769531, -0.0004887580871582031, -0.004795074462890625, -0.006378173828125, -0.0076751708984375, -0.0004131793975830078, -0.0003085136413574219, -0.00023674964904785156], "max": [18.6875, 16.046875, 20.390625, 0.00653076171875, 0.005702972412109375, 0.31787109375, 10.9921875, 3.412109375, 7.92578125, 0.016387939453125, 0.00884246826171875, 0.1954345703125, 2.375, 1.7939453125, 1.8857421875, 0.01111602783203125, 0.006961822509765625, 0.042205810546875, 0.008148193359375, 0.013458251953125, 0.04022216796875, 0.0004818439483642578, 0.0005779266357421875, 0.00026702880859375, 0.0208587646484375, 0.0132293701171875, 0.0289306640625, 0.0003643035888671875, 0.0007104873657226562, 0.00032901763916015625, 13.7578125, 21.078125, 25.65625, 0.017852783203125, 0.09173583984375, 0.25, 9.796875, 11.125, 21.1875, 0.002674102783203125, 0.027679443359375, 0.196044921875, 0.05718994140625, 20.3125, 36.34375, 0.0017995834350585938, 0.0379638671875, 0.0167083740234375, 0.00699615478515625, 0.00807952880859375, 0.024169921875, 0.00035190582275390625, 0.0012340545654296875, 0.0003647804260253906, 0.0103759765625, 0.005489349365234375, 0.0109710693359375, 0.00040268898010253906, 0.00045418739318847656, 0.0002357959747314453], "mean": [2.5828804969787598, 1.9806147813796997, 2.455554962158203, -0.040102023631334305, -0.01442030631005764, 0.044235359877347946, 1.0049362182617188, 0.27231597900390625, 0.3281599283218384, -0.0089439507573843, -0.0057535781525075436, 0.017683640122413635, 0.08168259263038635, 0.03573959320783615, 0.051156360656023026, -0.0009062829194590449, 0.000203793853870593, 0.00141854805406183, -4.431346314959228e-05, -1.6911522834561765e-05, -7.795441342750564e-05, 5.214349130255869e-07, -7.233131213979505e-07, -7.857580044401402e-07, 3.003735764650628e-05, 2.5938393264368642e-06, 3.635758548625745e-05, 1.4906197520758724e-07, 1.3154115094948793e-06, -4.317157049626985e-07, 0.20638972520828247, 2.152395009994507, 2.1848506927490234, -0.0345773883163929, 0.00321698235347867, 0.0031082206405699253, -0.48296380043029785, 0.7917047142982483, 1.6812772750854492, -0.03164634853601456, -0.00028031558031216264, -0.007692526560276747, -1.208969235420227, 0.7311235070228577, 1.9408084154129028, -0.03561859577894211, -0.001972357975319028, -0.01901283487677574, 2.742740150551981e-07, 3.5319932067068294e-05, -6.997694072197191e-06, -1.0127350833499804e-06, -1.3048965001871693e-06, 2.968669832625892e-06, 6.844784820714267e-06, -2.438915771563188e-06, -1.539286495244596e-05, -1.0323548593760279e-07, 9.034565664478578e-07, 4.599971816787729e-07], "std": [5.352815628051758, 3.8394546508789062, 5.162113189697266, 0.08324991166591644, 0.0328465960919857, 0.0921030342578888, 2.4489433765411377, 0.6120510697364807, 1.0133073329925537, 0.02635997347533703, 0.014568472281098366, 0.04304983839392662, 0.3685849905014038, 0.1812492311000824, 0.2523612976074219, 0.004947084002196789, 0.0009585338993929327, 0.0063920090906322, 0.0023497575893998146, 0.003104201052337885, 0.008571797050535679, 0.00013108589337207377, 0.00015498761786147952, 7.112243474693969e-05, 0.0030011998023837805, 0.0028791429940611124, 0.0064690010622143745, 0.00011764538066927344, 0.00012727390276268125, 7.734086830168962e-05, 2.973356246948242, 4.559536457061768, 4.833125114440918, 0.07980890572071075, 0.011850832961499691, 0.05074932798743248, 3.501573085784912, 1.9660598039627075, 3.6110875606536865, 0.06492948532104492, 0.003951066639274359, 0.060597013682127, 3.1717450618743896, 2.393648624420166, 6.322700500488281, 0.10925716161727905, 0.012887118384242058, 0.049943022429943085, 0.0010360076557844877, 0.0011183619499206543, 0.002357401419430971, 7.990314770722762e-05, 0.0001035542954923585, 6.287141150096431e-05, 0.0009977271547541022, 0.001170203322544694, 0.0020601036958396435, 0.00010532420128583908, 7.857894524931908e-05, 5.157550549483858e-05], "count": [2959]}, "timestamp": {"min": [0.0], "max": [98.5999984741211], "mean": [49.29999999899509], "std": [28.472989149827576], "count": [2959]}, "frame_index": {"min": [0.0], "max": [2958.0], "mean": [1479.0], "std": [854.1896744868789], "count": [2959]}, "episode_index": {"min": [3.0], "max": [3.0], "mean": [3.0], "std": [0.0], "count": [2959]}, "index": {"min": [10565.0], "max": [13523.0], "mean": [12044.0], "std": [854.1896744868789], "count": [2959]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [2959]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3035513460636139]], [[0.2585636079311371]], [[0.31814584136009216]]], "std": [[[0.3361622095108032]], [[0.3192639648914337]], [[0.34762895107269287]]], "count": [2959]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3077911138534546]], [[0.24730819463729858]], [[0.31599679589271545]]], "std": [[[0.2019469439983368]], [[0.17509397864341736]], [[0.20878227055072784]]], "count": [2959]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31617167592048645]], [[0.23782004415988922]], [[0.3167632520198822]]], "std": [[[0.20457501709461212]], [[0.17636729776859283]], [[0.2026825249195099]]], "count": [2959]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3005182147026062]], [[0.2611284852027893]], [[0.3178674876689911]]], "std": [[[0.3338184654712677]], [[0.3173360228538513]], [[0.34502190351486206]]], "count": [2959]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6549019813537598]], [[0.6549019813537598]], [[0.6549019813537598]]], "mean": [[[0.002340789884328842]], [[0.002340789884328842]], [[0.002340789884328842]]], "std": [[[0.03169669583439827]], [[0.03169669583439827]], [[0.03169669583439827]]], "count": [2959]}, "observation.images.tactile_raw": {"min": [[[0.007843137718737125]], [[0.007843137718737125]], [[0.007843137718737125]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4946887195110321]], [[0.4946887195110321]], [[0.4946887195110321]]], "std": [[[0.21984601020812988]], [[0.21984601020812988]], [[0.21984601020812988]]], "count": [2959]}}}
|