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- single_panda_gripper.PnPSinkToCounter/meta/episodes.jsonl +0 -0
- single_panda_gripper.PnPSinkToCounter/meta/info.json +213 -0
- single_panda_gripper.PnPSinkToCounter/meta/modality.json +107 -0
- single_panda_gripper.PnPSinkToCounter/meta/stats.json +600 -0
- single_panda_gripper.PnPSinkToCounter/meta/tasks.jsonl +32 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000015.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000045.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000068.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000075.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000077.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000102.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000120.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000149.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000154.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000168.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000179.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000197.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000199.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000247.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000253.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000271.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000272.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000278.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000308.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000319.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000328.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000343.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000390.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000401.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000428.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000436.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000481.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000507.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000514.parquet +3 -0
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- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000573.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000578.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000589.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000638.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000671.parquet +3 -0
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- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000781.parquet +3 -0
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- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000883.parquet +3 -0
- single_panda_gripper.TurnOffStove/data/chunk-000/episode_000915.parquet +3 -0
single_panda_gripper.PnPSinkToCounter/meta/episodes.jsonl
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single_panda_gripper.PnPSinkToCounter/meta/info.json
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| 1 |
+
{
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| 2 |
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| 3 |
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| 212 |
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| 213 |
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}
|
single_panda_gripper.PnPSinkToCounter/meta/modality.json
ADDED
|
@@ -0,0 +1,107 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"base_position": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 3
|
| 6 |
+
},
|
| 7 |
+
"base_rotation": {
|
| 8 |
+
"start": 3,
|
| 9 |
+
"end": 7,
|
| 10 |
+
"rotation_type": "quaternion"
|
| 11 |
+
},
|
| 12 |
+
"end_effector_position_absolute": {
|
| 13 |
+
"start": 7,
|
| 14 |
+
"end": 10
|
| 15 |
+
},
|
| 16 |
+
"end_effector_position_relative": {
|
| 17 |
+
"start": 10,
|
| 18 |
+
"end": 13
|
| 19 |
+
},
|
| 20 |
+
"end_effector_rotation_absolute": {
|
| 21 |
+
"start": 13,
|
| 22 |
+
"end": 17,
|
| 23 |
+
"rotation_type": "quaternion"
|
| 24 |
+
},
|
| 25 |
+
"end_effector_rotation_relative": {
|
| 26 |
+
"start": 17,
|
| 27 |
+
"end": 21,
|
| 28 |
+
"rotation_type": "quaternion"
|
| 29 |
+
},
|
| 30 |
+
"gripper_qpos": {
|
| 31 |
+
"start": 21,
|
| 32 |
+
"end": 23
|
| 33 |
+
},
|
| 34 |
+
"gripper_qvel": {
|
| 35 |
+
"start": 23,
|
| 36 |
+
"end": 25
|
| 37 |
+
},
|
| 38 |
+
"joint_position": {
|
| 39 |
+
"start": 25,
|
| 40 |
+
"end": 32
|
| 41 |
+
},
|
| 42 |
+
"joint_position_cos": {
|
| 43 |
+
"start": 32,
|
| 44 |
+
"end": 39
|
| 45 |
+
},
|
| 46 |
+
"joint_position_sin": {
|
| 47 |
+
"start": 39,
|
| 48 |
+
"end": 46
|
| 49 |
+
},
|
| 50 |
+
"joint_velocity": {
|
| 51 |
+
"start": 46,
|
| 52 |
+
"end": 53
|
| 53 |
+
}
|
| 54 |
+
},
|
| 55 |
+
"action": {
|
| 56 |
+
"base_motion": {
|
| 57 |
+
"start": 0,
|
| 58 |
+
"end": 4,
|
| 59 |
+
"absolute": false
|
| 60 |
+
},
|
| 61 |
+
"control_mode": {
|
| 62 |
+
"start": 4,
|
| 63 |
+
"end": 5,
|
| 64 |
+
"dtype": "int64",
|
| 65 |
+
"range": [
|
| 66 |
+
0,
|
| 67 |
+
1
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"end_effector_position": {
|
| 71 |
+
"start": 5,
|
| 72 |
+
"end": 8,
|
| 73 |
+
"absolute": false
|
| 74 |
+
},
|
| 75 |
+
"end_effector_rotation": {
|
| 76 |
+
"start": 8,
|
| 77 |
+
"end": 11,
|
| 78 |
+
"absolute": false,
|
| 79 |
+
"rotation_type": "axis_angle"
|
| 80 |
+
},
|
| 81 |
+
"gripper_close": {
|
| 82 |
+
"start": 11,
|
| 83 |
+
"end": 12,
|
| 84 |
+
"dtype": "int64",
|
| 85 |
+
"range": [
|
| 86 |
+
0,
|
| 87 |
+
1
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"video": {
|
| 92 |
+
"left_view": {
|
| 93 |
+
"original_key": "observation.images.left_view"
|
| 94 |
+
},
|
| 95 |
+
"right_view": {
|
| 96 |
+
"original_key": "observation.images.right_view"
|
| 97 |
+
},
|
| 98 |
+
"wrist_view": {
|
| 99 |
+
"original_key": "observation.images.wrist_view"
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"annotation": {
|
| 103 |
+
"human.action.task_description": {},
|
| 104 |
+
"human.action.task_name": {},
|
| 105 |
+
"human.validity": {}
|
| 106 |
+
}
|
| 107 |
+
}
|
single_panda_gripper.PnPSinkToCounter/meta/stats.json
ADDED
|
@@ -0,0 +1,600 @@
|
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|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"mean": [
|
| 4 |
+
2.3011982440948486,
|
| 5 |
+
-1.5901262760162354,
|
| 6 |
+
0.6961165070533752,
|
| 7 |
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0.0,
|
| 8 |
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0.0,
|
| 9 |
+
0.022300414741039276,
|
| 10 |
+
0.5454360842704773,
|
| 11 |
+
2.262963056564331,
|
| 12 |
+
-1.5755387544631958,
|
| 13 |
+
1.0000063180923462,
|
| 14 |
+
0.39277341961860657,
|
| 15 |
+
-0.05960335582494736,
|
| 16 |
+
0.29867562651634216,
|
| 17 |
+
0.5254226922988892,
|
| 18 |
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single_panda_gripper.PnPSinkToCounter/meta/tasks.jsonl
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|
@@ -0,0 +1,32 @@
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|
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|
|
|
|
|
|
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| 1 |
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{"task_index": 0, "task": "pick the avocado from the sink and place it on the plate located on the counter"}
|
| 2 |
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{"task_index": 1, "task": "PnPSinkToCounter"}
|
| 3 |
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{"task_index": 2, "task": "Valid"}
|
| 4 |
+
{"task_index": 3, "task": "pick the orange from the sink and place it on the plate located on the counter"}
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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|
| 8 |
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{"task_index": 7, "task": "pick the cucumber from the sink and place it on the plate located on the counter"}
|
| 9 |
+
{"task_index": 8, "task": "pick the mango from the sink and place it on the plate located on the counter"}
|
| 10 |
+
{"task_index": 9, "task": "pick the carrot from the sink and place it on the plate located on the counter"}
|
| 11 |
+
{"task_index": 10, "task": "pick the onion from the sink and place it on the plate located on the counter"}
|
| 12 |
+
{"task_index": 11, "task": "pick the sweet potato from the sink and place it on the plate located on the counter"}
|
| 13 |
+
{"task_index": 12, "task": "pick the kiwi from the sink and place it on the plate located on the counter"}
|
| 14 |
+
{"task_index": 13, "task": "pick the lime from the sink and place it on the plate located on the counter"}
|
| 15 |
+
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|
| 16 |
+
{"task_index": 15, "task": "pick the apple from the sink and place it on the plate located on the counter"}
|
| 17 |
+
{"task_index": 16, "task": "pick the squash from the sink and place it on the plate located on the counter"}
|
| 18 |
+
{"task_index": 17, "task": "pick the peach from the sink and place it on the plate located on the counter"}
|
| 19 |
+
{"task_index": 18, "task": "pick the garlic from the sink and place it on the plate located on the counter"}
|
| 20 |
+
{"task_index": 19, "task": "pick the potato from the sink and place it on the plate located on the counter"}
|
| 21 |
+
{"task_index": 20, "task": "pick the bell pepper from the sink and place it on the plate located on the counter"}
|
| 22 |
+
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|
| 23 |
+
{"task_index": 22, "task": "pick the tangerine from the sink and place it on the plate located on the counter"}
|
| 24 |
+
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|
| 25 |
+
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|
| 26 |
+
{"task_index": 25, "task": "pick the mushroom from the sink and place it on the plate located on the counter"}
|
| 27 |
+
{"task_index": 26, "task": "pick the broccoli from the sink and place it on the plate located on the counter"}
|
| 28 |
+
{"task_index": 27, "task": "pick the fish from the sink and place it on the plate located on the counter"}
|
| 29 |
+
{"task_index": 28, "task": "pick the cheese from the sink and place it on the plate located on the counter"}
|
| 30 |
+
{"task_index": 29, "task": "pick the yogurt from the sink and place it on the plate located on the counter"}
|
| 31 |
+
{"task_index": 30, "task": "pick the pear from the sink and place it on the plate located on the counter"}
|
| 32 |
+
{"task_index": 31, "task": "pick the milk from the sink and place it on the plate located on the counter"}
|
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