Commit ·
a639c59
0
Parent(s):
Duplicate from woozziam/260413_r1lite_lerobot_v3
Browse files- .gitattributes +60 -0
- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +517 -0
- meta/stats.json +986 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.head_rgb/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.head_rgb/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.head_rgb/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.head_rgb/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.head_rgb/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.head_right_rgb/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.head_right_rgb/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.head_right_rgb/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.head_right_rgb/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.head_right_rgb/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.left_wrist_rgb/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.left_wrist_rgb/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.right_wrist_rgb/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.right_wrist_rgb/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.right_wrist_rgb/chunk-000/file-002.mp4 +3 -0
.gitattributes
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
*.7z filter=lfs diff=lfs merge=lfs -text
|
| 2 |
+
*.arrow filter=lfs diff=lfs merge=lfs -text
|
| 3 |
+
*.avro filter=lfs diff=lfs merge=lfs -text
|
| 4 |
+
*.bin filter=lfs diff=lfs merge=lfs -text
|
| 5 |
+
*.bz2 filter=lfs diff=lfs merge=lfs -text
|
| 6 |
+
*.ckpt filter=lfs diff=lfs merge=lfs -text
|
| 7 |
+
*.ftz filter=lfs diff=lfs merge=lfs -text
|
| 8 |
+
*.gz filter=lfs diff=lfs merge=lfs -text
|
| 9 |
+
*.h5 filter=lfs diff=lfs merge=lfs -text
|
| 10 |
+
*.joblib filter=lfs diff=lfs merge=lfs -text
|
| 11 |
+
*.lfs.* filter=lfs diff=lfs merge=lfs -text
|
| 12 |
+
*.lz4 filter=lfs diff=lfs merge=lfs -text
|
| 13 |
+
*.mds filter=lfs diff=lfs merge=lfs -text
|
| 14 |
+
*.mlmodel filter=lfs diff=lfs merge=lfs -text
|
| 15 |
+
*.model filter=lfs diff=lfs merge=lfs -text
|
| 16 |
+
*.msgpack filter=lfs diff=lfs merge=lfs -text
|
| 17 |
+
*.npy filter=lfs diff=lfs merge=lfs -text
|
| 18 |
+
*.npz filter=lfs diff=lfs merge=lfs -text
|
| 19 |
+
*.onnx filter=lfs diff=lfs merge=lfs -text
|
| 20 |
+
*.ot filter=lfs diff=lfs merge=lfs -text
|
| 21 |
+
*.parquet filter=lfs diff=lfs merge=lfs -text
|
| 22 |
+
*.pb filter=lfs diff=lfs merge=lfs -text
|
| 23 |
+
*.pickle filter=lfs diff=lfs merge=lfs -text
|
| 24 |
+
*.pkl filter=lfs diff=lfs merge=lfs -text
|
| 25 |
+
*.pt filter=lfs diff=lfs merge=lfs -text
|
| 26 |
+
*.pth filter=lfs diff=lfs merge=lfs -text
|
| 27 |
+
*.rar filter=lfs diff=lfs merge=lfs -text
|
| 28 |
+
*.safetensors filter=lfs diff=lfs merge=lfs -text
|
| 29 |
+
saved_model/**/* filter=lfs diff=lfs merge=lfs -text
|
| 30 |
+
*.tar.* filter=lfs diff=lfs merge=lfs -text
|
| 31 |
+
*.tar filter=lfs diff=lfs merge=lfs -text
|
| 32 |
+
*.tflite filter=lfs diff=lfs merge=lfs -text
|
| 33 |
+
*.tgz filter=lfs diff=lfs merge=lfs -text
|
| 34 |
+
*.wasm filter=lfs diff=lfs merge=lfs -text
|
| 35 |
+
*.xz filter=lfs diff=lfs merge=lfs -text
|
| 36 |
+
*.zip filter=lfs diff=lfs merge=lfs -text
|
| 37 |
+
*.zst filter=lfs diff=lfs merge=lfs -text
|
| 38 |
+
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
| 39 |
+
# Audio files - uncompressed
|
| 40 |
+
*.pcm filter=lfs diff=lfs merge=lfs -text
|
| 41 |
+
*.sam filter=lfs diff=lfs merge=lfs -text
|
| 42 |
+
*.raw filter=lfs diff=lfs merge=lfs -text
|
| 43 |
+
# Audio files - compressed
|
| 44 |
+
*.aac filter=lfs diff=lfs merge=lfs -text
|
| 45 |
+
*.flac filter=lfs diff=lfs merge=lfs -text
|
| 46 |
+
*.mp3 filter=lfs diff=lfs merge=lfs -text
|
| 47 |
+
*.ogg filter=lfs diff=lfs merge=lfs -text
|
| 48 |
+
*.wav filter=lfs diff=lfs merge=lfs -text
|
| 49 |
+
# Image files - uncompressed
|
| 50 |
+
*.bmp filter=lfs diff=lfs merge=lfs -text
|
| 51 |
+
*.gif filter=lfs diff=lfs merge=lfs -text
|
| 52 |
+
*.png filter=lfs diff=lfs merge=lfs -text
|
| 53 |
+
*.tiff filter=lfs diff=lfs merge=lfs -text
|
| 54 |
+
# Image files - compressed
|
| 55 |
+
*.jpg filter=lfs diff=lfs merge=lfs -text
|
| 56 |
+
*.jpeg filter=lfs diff=lfs merge=lfs -text
|
| 57 |
+
*.webp filter=lfs diff=lfs merge=lfs -text
|
| 58 |
+
# Video files - compressed
|
| 59 |
+
*.mp4 filter=lfs diff=lfs merge=lfs -text
|
| 60 |
+
*.webm filter=lfs diff=lfs merge=lfs -text
|
data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d9bf3c866fbd0a2bdb00e6fb81fd87d092ecdb298df4721c453484471233084d
|
| 3 |
+
size 60490328
|
meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2a19072848d3aed23cf223b20435f17724f178a845e508eff1475eb8704c0f60
|
| 3 |
+
size 314643
|
meta/info.json
ADDED
|
@@ -0,0 +1,517 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "r1lite",
|
| 4 |
+
"total_episodes": 50,
|
| 5 |
+
"total_frames": 72474,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 31,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:50"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"features": {
|
| 15 |
+
"observation.images.head_rgb": {
|
| 16 |
+
"dtype": "video",
|
| 17 |
+
"shape": [
|
| 18 |
+
720,
|
| 19 |
+
1280,
|
| 20 |
+
3
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"height",
|
| 24 |
+
"width",
|
| 25 |
+
"channels"
|
| 26 |
+
],
|
| 27 |
+
"info": {
|
| 28 |
+
"video.height": 720,
|
| 29 |
+
"video.width": 1280,
|
| 30 |
+
"video.codec": "av1",
|
| 31 |
+
"video.pix_fmt": "yuv420p",
|
| 32 |
+
"video.is_depth_map": false,
|
| 33 |
+
"video.fps": 31,
|
| 34 |
+
"video.channels": 3,
|
| 35 |
+
"has_audio": false
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"observation.images.head_right_rgb": {
|
| 39 |
+
"dtype": "video",
|
| 40 |
+
"shape": [
|
| 41 |
+
720,
|
| 42 |
+
1280,
|
| 43 |
+
3
|
| 44 |
+
],
|
| 45 |
+
"names": [
|
| 46 |
+
"height",
|
| 47 |
+
"width",
|
| 48 |
+
"channels"
|
| 49 |
+
],
|
| 50 |
+
"info": {
|
| 51 |
+
"video.height": 720,
|
| 52 |
+
"video.width": 1280,
|
| 53 |
+
"video.codec": "av1",
|
| 54 |
+
"video.pix_fmt": "yuv420p",
|
| 55 |
+
"video.is_depth_map": false,
|
| 56 |
+
"video.fps": 31,
|
| 57 |
+
"video.channels": 3,
|
| 58 |
+
"has_audio": false
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"observation.images.left_wrist_rgb": {
|
| 62 |
+
"dtype": "video",
|
| 63 |
+
"shape": [
|
| 64 |
+
360,
|
| 65 |
+
640,
|
| 66 |
+
3
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"height",
|
| 70 |
+
"width",
|
| 71 |
+
"channels"
|
| 72 |
+
],
|
| 73 |
+
"info": {
|
| 74 |
+
"video.height": 360,
|
| 75 |
+
"video.width": 640,
|
| 76 |
+
"video.codec": "av1",
|
| 77 |
+
"video.pix_fmt": "yuv420p",
|
| 78 |
+
"video.is_depth_map": false,
|
| 79 |
+
"video.fps": 31,
|
| 80 |
+
"video.channels": 3,
|
| 81 |
+
"has_audio": false
|
| 82 |
+
}
|
| 83 |
+
},
|
| 84 |
+
"observation.images.right_wrist_rgb": {
|
| 85 |
+
"dtype": "video",
|
| 86 |
+
"shape": [
|
| 87 |
+
360,
|
| 88 |
+
640,
|
| 89 |
+
3
|
| 90 |
+
],
|
| 91 |
+
"names": [
|
| 92 |
+
"height",
|
| 93 |
+
"width",
|
| 94 |
+
"channels"
|
| 95 |
+
],
|
| 96 |
+
"info": {
|
| 97 |
+
"video.height": 360,
|
| 98 |
+
"video.width": 640,
|
| 99 |
+
"video.codec": "av1",
|
| 100 |
+
"video.pix_fmt": "yuv420p",
|
| 101 |
+
"video.is_depth_map": false,
|
| 102 |
+
"video.fps": 31,
|
| 103 |
+
"video.channels": 3,
|
| 104 |
+
"has_audio": false
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"observation.state.left_arm": {
|
| 108 |
+
"dtype": "float64",
|
| 109 |
+
"shape": [
|
| 110 |
+
6
|
| 111 |
+
],
|
| 112 |
+
"names": [
|
| 113 |
+
"/hdas/feedback_arm_left.position[0]",
|
| 114 |
+
"/hdas/feedback_arm_left.position[1]",
|
| 115 |
+
"/hdas/feedback_arm_left.position[2]",
|
| 116 |
+
"/hdas/feedback_arm_left.position[3]",
|
| 117 |
+
"/hdas/feedback_arm_left.position[4]",
|
| 118 |
+
"/hdas/feedback_arm_left.position[5]"
|
| 119 |
+
],
|
| 120 |
+
"fps": 31
|
| 121 |
+
},
|
| 122 |
+
"observation.state.left_arm.velocities": {
|
| 123 |
+
"dtype": "float64",
|
| 124 |
+
"shape": [
|
| 125 |
+
6
|
| 126 |
+
],
|
| 127 |
+
"names": [
|
| 128 |
+
"/hdas/feedback_arm_left.velocity[0]",
|
| 129 |
+
"/hdas/feedback_arm_left.velocity[1]",
|
| 130 |
+
"/hdas/feedback_arm_left.velocity[2]",
|
| 131 |
+
"/hdas/feedback_arm_left.velocity[3]",
|
| 132 |
+
"/hdas/feedback_arm_left.velocity[4]",
|
| 133 |
+
"/hdas/feedback_arm_left.velocity[5]"
|
| 134 |
+
],
|
| 135 |
+
"fps": 31
|
| 136 |
+
},
|
| 137 |
+
"observation.state.right_arm": {
|
| 138 |
+
"dtype": "float64",
|
| 139 |
+
"shape": [
|
| 140 |
+
6
|
| 141 |
+
],
|
| 142 |
+
"names": [
|
| 143 |
+
"/hdas/feedback_arm_right.position[0]",
|
| 144 |
+
"/hdas/feedback_arm_right.position[1]",
|
| 145 |
+
"/hdas/feedback_arm_right.position[2]",
|
| 146 |
+
"/hdas/feedback_arm_right.position[3]",
|
| 147 |
+
"/hdas/feedback_arm_right.position[4]",
|
| 148 |
+
"/hdas/feedback_arm_right.position[5]"
|
| 149 |
+
],
|
| 150 |
+
"fps": 31
|
| 151 |
+
},
|
| 152 |
+
"observation.state.right_arm.velocities": {
|
| 153 |
+
"dtype": "float64",
|
| 154 |
+
"shape": [
|
| 155 |
+
6
|
| 156 |
+
],
|
| 157 |
+
"names": [
|
| 158 |
+
"/hdas/feedback_arm_right.velocity[0]",
|
| 159 |
+
"/hdas/feedback_arm_right.velocity[1]",
|
| 160 |
+
"/hdas/feedback_arm_right.velocity[2]",
|
| 161 |
+
"/hdas/feedback_arm_right.velocity[3]",
|
| 162 |
+
"/hdas/feedback_arm_right.velocity[4]",
|
| 163 |
+
"/hdas/feedback_arm_right.velocity[5]"
|
| 164 |
+
],
|
| 165 |
+
"fps": 31
|
| 166 |
+
},
|
| 167 |
+
"observation.state.chassis.imu": {
|
| 168 |
+
"dtype": "float64",
|
| 169 |
+
"shape": [
|
| 170 |
+
10
|
| 171 |
+
],
|
| 172 |
+
"names": [
|
| 173 |
+
"/hdas/imu_chassis.orientation.x",
|
| 174 |
+
"/hdas/imu_chassis.orientation.y",
|
| 175 |
+
"/hdas/imu_chassis.orientation.z",
|
| 176 |
+
"/hdas/imu_chassis.orientation.w",
|
| 177 |
+
"/hdas/imu_chassis.angular_velocity.x",
|
| 178 |
+
"/hdas/imu_chassis.angular_velocity.y",
|
| 179 |
+
"/hdas/imu_chassis.angular_velocity.z",
|
| 180 |
+
"/hdas/imu_chassis.linear_acceleration.x",
|
| 181 |
+
"/hdas/imu_chassis.linear_acceleration.y",
|
| 182 |
+
"/hdas/imu_chassis.linear_acceleration.z"
|
| 183 |
+
],
|
| 184 |
+
"fps": 31
|
| 185 |
+
},
|
| 186 |
+
"observation.state.chassis": {
|
| 187 |
+
"dtype": "float64",
|
| 188 |
+
"shape": [
|
| 189 |
+
3
|
| 190 |
+
],
|
| 191 |
+
"names": [
|
| 192 |
+
"/hdas/feedback_chassis.position[0]",
|
| 193 |
+
"/hdas/feedback_chassis.position[1]",
|
| 194 |
+
"/hdas/feedback_chassis.position[2]"
|
| 195 |
+
],
|
| 196 |
+
"fps": 31
|
| 197 |
+
},
|
| 198 |
+
"observation.state.chassis.velocities": {
|
| 199 |
+
"dtype": "float64",
|
| 200 |
+
"shape": [
|
| 201 |
+
3
|
| 202 |
+
],
|
| 203 |
+
"names": [
|
| 204 |
+
"/hdas/feedback_chassis.velocity[0]",
|
| 205 |
+
"/hdas/feedback_chassis.velocity[1]",
|
| 206 |
+
"/hdas/feedback_chassis.velocity[2]"
|
| 207 |
+
],
|
| 208 |
+
"fps": 31
|
| 209 |
+
},
|
| 210 |
+
"observation.state.torso": {
|
| 211 |
+
"dtype": "float64",
|
| 212 |
+
"shape": [
|
| 213 |
+
4
|
| 214 |
+
],
|
| 215 |
+
"names": [
|
| 216 |
+
"/hdas/feedback_torso.position[0]",
|
| 217 |
+
"/hdas/feedback_torso.position[1]",
|
| 218 |
+
"/hdas/feedback_torso.position[2]",
|
| 219 |
+
"/hdas/feedback_torso.position[3]"
|
| 220 |
+
],
|
| 221 |
+
"fps": 31
|
| 222 |
+
},
|
| 223 |
+
"observation.state.torso.velocities": {
|
| 224 |
+
"dtype": "float64",
|
| 225 |
+
"shape": [
|
| 226 |
+
4
|
| 227 |
+
],
|
| 228 |
+
"names": [
|
| 229 |
+
"/hdas/feedback_torso.velocity[0]",
|
| 230 |
+
"/hdas/feedback_torso.velocity[1]",
|
| 231 |
+
"/hdas/feedback_torso.velocity[2]",
|
| 232 |
+
"/hdas/feedback_torso.velocity[3]"
|
| 233 |
+
],
|
| 234 |
+
"fps": 31
|
| 235 |
+
},
|
| 236 |
+
"observation.state.left_gripper": {
|
| 237 |
+
"dtype": "float64",
|
| 238 |
+
"shape": [
|
| 239 |
+
1
|
| 240 |
+
],
|
| 241 |
+
"names": [
|
| 242 |
+
"/hdas/feedback_gripper_left.position[0]"
|
| 243 |
+
],
|
| 244 |
+
"fps": 31
|
| 245 |
+
},
|
| 246 |
+
"observation.state.right_gripper": {
|
| 247 |
+
"dtype": "float64",
|
| 248 |
+
"shape": [
|
| 249 |
+
1
|
| 250 |
+
],
|
| 251 |
+
"names": [
|
| 252 |
+
"/hdas/feedback_gripper_right.position[0]"
|
| 253 |
+
],
|
| 254 |
+
"fps": 31
|
| 255 |
+
},
|
| 256 |
+
"observation.state.left_ee_pose": {
|
| 257 |
+
"dtype": "float64",
|
| 258 |
+
"shape": [
|
| 259 |
+
7
|
| 260 |
+
],
|
| 261 |
+
"names": [
|
| 262 |
+
"/motion_control/pose_ee_arm_left.pose.position.x",
|
| 263 |
+
"/motion_control/pose_ee_arm_left.pose.position.y",
|
| 264 |
+
"/motion_control/pose_ee_arm_left.pose.position.z",
|
| 265 |
+
"/motion_control/pose_ee_arm_left.pose.orientation.x",
|
| 266 |
+
"/motion_control/pose_ee_arm_left.pose.orientation.y",
|
| 267 |
+
"/motion_control/pose_ee_arm_left.pose.orientation.z",
|
| 268 |
+
"/motion_control/pose_ee_arm_left.pose.orientation.w"
|
| 269 |
+
],
|
| 270 |
+
"fps": 31
|
| 271 |
+
},
|
| 272 |
+
"observation.state.right_ee_pose": {
|
| 273 |
+
"dtype": "float64",
|
| 274 |
+
"shape": [
|
| 275 |
+
7
|
| 276 |
+
],
|
| 277 |
+
"names": [
|
| 278 |
+
"/motion_control/pose_ee_arm_right.pose.position.x",
|
| 279 |
+
"/motion_control/pose_ee_arm_right.pose.position.y",
|
| 280 |
+
"/motion_control/pose_ee_arm_right.pose.position.z",
|
| 281 |
+
"/motion_control/pose_ee_arm_right.pose.orientation.x",
|
| 282 |
+
"/motion_control/pose_ee_arm_right.pose.orientation.y",
|
| 283 |
+
"/motion_control/pose_ee_arm_right.pose.orientation.z",
|
| 284 |
+
"/motion_control/pose_ee_arm_right.pose.orientation.w"
|
| 285 |
+
],
|
| 286 |
+
"fps": 31
|
| 287 |
+
},
|
| 288 |
+
"action.left_gripper": {
|
| 289 |
+
"dtype": "float64",
|
| 290 |
+
"shape": [
|
| 291 |
+
1
|
| 292 |
+
],
|
| 293 |
+
"names": [
|
| 294 |
+
"/motion_target/target_position_gripper_left.position[0]"
|
| 295 |
+
],
|
| 296 |
+
"fps": 31
|
| 297 |
+
},
|
| 298 |
+
"action.right_gripper": {
|
| 299 |
+
"dtype": "float64",
|
| 300 |
+
"shape": [
|
| 301 |
+
1
|
| 302 |
+
],
|
| 303 |
+
"names": [
|
| 304 |
+
"/motion_target/target_position_gripper_right.position[0]"
|
| 305 |
+
],
|
| 306 |
+
"fps": 31
|
| 307 |
+
},
|
| 308 |
+
"action.chassis.velocities": {
|
| 309 |
+
"dtype": "float64",
|
| 310 |
+
"shape": [
|
| 311 |
+
6
|
| 312 |
+
],
|
| 313 |
+
"names": [
|
| 314 |
+
"/motion_target/target_speed_chassis.twist.linear.x",
|
| 315 |
+
"/motion_target/target_speed_chassis.twist.linear.y",
|
| 316 |
+
"/motion_target/target_speed_chassis.twist.linear.z",
|
| 317 |
+
"/motion_target/target_speed_chassis.twist.angular.x",
|
| 318 |
+
"/motion_target/target_speed_chassis.twist.angular.y",
|
| 319 |
+
"/motion_target/target_speed_chassis.twist.angular.z"
|
| 320 |
+
],
|
| 321 |
+
"fps": 31
|
| 322 |
+
},
|
| 323 |
+
"action.torso.velocities": {
|
| 324 |
+
"dtype": "float64",
|
| 325 |
+
"shape": [
|
| 326 |
+
6
|
| 327 |
+
],
|
| 328 |
+
"names": [
|
| 329 |
+
"/motion_target/target_speed_torso.twist.linear.x",
|
| 330 |
+
"/motion_target/target_speed_torso.twist.linear.y",
|
| 331 |
+
"/motion_target/target_speed_torso.twist.linear.z",
|
| 332 |
+
"/motion_target/target_speed_torso.twist.angular.x",
|
| 333 |
+
"/motion_target/target_speed_torso.twist.angular.y",
|
| 334 |
+
"/motion_target/target_speed_torso.twist.angular.z"
|
| 335 |
+
],
|
| 336 |
+
"fps": 31
|
| 337 |
+
},
|
| 338 |
+
"action.left_arm": {
|
| 339 |
+
"dtype": "float64",
|
| 340 |
+
"shape": [
|
| 341 |
+
6
|
| 342 |
+
],
|
| 343 |
+
"names": [
|
| 344 |
+
"/motion_target/target_joint_state_arm_left.position[0]",
|
| 345 |
+
"/motion_target/target_joint_state_arm_left.position[1]",
|
| 346 |
+
"/motion_target/target_joint_state_arm_left.position[2]",
|
| 347 |
+
"/motion_target/target_joint_state_arm_left.position[3]",
|
| 348 |
+
"/motion_target/target_joint_state_arm_left.position[4]",
|
| 349 |
+
"/motion_target/target_joint_state_arm_left.position[5]"
|
| 350 |
+
],
|
| 351 |
+
"fps": 31
|
| 352 |
+
},
|
| 353 |
+
"action.right_arm": {
|
| 354 |
+
"dtype": "float64",
|
| 355 |
+
"shape": [
|
| 356 |
+
6
|
| 357 |
+
],
|
| 358 |
+
"names": [
|
| 359 |
+
"/motion_target/target_joint_state_arm_right.position[0]",
|
| 360 |
+
"/motion_target/target_joint_state_arm_right.position[1]",
|
| 361 |
+
"/motion_target/target_joint_state_arm_right.position[2]",
|
| 362 |
+
"/motion_target/target_joint_state_arm_right.position[3]",
|
| 363 |
+
"/motion_target/target_joint_state_arm_right.position[4]",
|
| 364 |
+
"/motion_target/target_joint_state_arm_right.position[5]"
|
| 365 |
+
],
|
| 366 |
+
"fps": 31
|
| 367 |
+
},
|
| 368 |
+
"timestamp": {
|
| 369 |
+
"dtype": "float32",
|
| 370 |
+
"shape": [
|
| 371 |
+
1
|
| 372 |
+
],
|
| 373 |
+
"names": null,
|
| 374 |
+
"fps": 31
|
| 375 |
+
},
|
| 376 |
+
"frame_index": {
|
| 377 |
+
"dtype": "int64",
|
| 378 |
+
"shape": [
|
| 379 |
+
1
|
| 380 |
+
],
|
| 381 |
+
"names": null,
|
| 382 |
+
"fps": 31
|
| 383 |
+
},
|
| 384 |
+
"episode_index": {
|
| 385 |
+
"dtype": "int64",
|
| 386 |
+
"shape": [
|
| 387 |
+
1
|
| 388 |
+
],
|
| 389 |
+
"names": null,
|
| 390 |
+
"fps": 31
|
| 391 |
+
},
|
| 392 |
+
"index": {
|
| 393 |
+
"dtype": "int64",
|
| 394 |
+
"shape": [
|
| 395 |
+
1
|
| 396 |
+
],
|
| 397 |
+
"names": null,
|
| 398 |
+
"fps": 31
|
| 399 |
+
},
|
| 400 |
+
"task_index": {
|
| 401 |
+
"dtype": "int64",
|
| 402 |
+
"shape": [
|
| 403 |
+
1
|
| 404 |
+
],
|
| 405 |
+
"names": null,
|
| 406 |
+
"fps": 31
|
| 407 |
+
},
|
| 408 |
+
"observation.state": {
|
| 409 |
+
"dtype": "float64",
|
| 410 |
+
"shape": [
|
| 411 |
+
64
|
| 412 |
+
],
|
| 413 |
+
"names": [
|
| 414 |
+
"obs_state_0",
|
| 415 |
+
"obs_state_1",
|
| 416 |
+
"obs_state_2",
|
| 417 |
+
"obs_state_3",
|
| 418 |
+
"obs_state_4",
|
| 419 |
+
"obs_state_5",
|
| 420 |
+
"obs_state_6",
|
| 421 |
+
"obs_state_7",
|
| 422 |
+
"obs_state_8",
|
| 423 |
+
"obs_state_9",
|
| 424 |
+
"obs_state_10",
|
| 425 |
+
"obs_state_11",
|
| 426 |
+
"obs_state_12",
|
| 427 |
+
"obs_state_13",
|
| 428 |
+
"obs_state_14",
|
| 429 |
+
"obs_state_15",
|
| 430 |
+
"obs_state_16",
|
| 431 |
+
"obs_state_17",
|
| 432 |
+
"obs_state_18",
|
| 433 |
+
"obs_state_19",
|
| 434 |
+
"obs_state_20",
|
| 435 |
+
"obs_state_21",
|
| 436 |
+
"obs_state_22",
|
| 437 |
+
"obs_state_23",
|
| 438 |
+
"obs_state_24",
|
| 439 |
+
"obs_state_25",
|
| 440 |
+
"obs_state_26",
|
| 441 |
+
"obs_state_27",
|
| 442 |
+
"obs_state_28",
|
| 443 |
+
"obs_state_29",
|
| 444 |
+
"obs_state_30",
|
| 445 |
+
"obs_state_31",
|
| 446 |
+
"obs_state_32",
|
| 447 |
+
"obs_state_33",
|
| 448 |
+
"obs_state_34",
|
| 449 |
+
"obs_state_35",
|
| 450 |
+
"obs_state_36",
|
| 451 |
+
"obs_state_37",
|
| 452 |
+
"obs_state_38",
|
| 453 |
+
"obs_state_39",
|
| 454 |
+
"obs_state_40",
|
| 455 |
+
"obs_state_41",
|
| 456 |
+
"obs_state_42",
|
| 457 |
+
"obs_state_43",
|
| 458 |
+
"obs_state_44",
|
| 459 |
+
"obs_state_45",
|
| 460 |
+
"obs_state_46",
|
| 461 |
+
"obs_state_47",
|
| 462 |
+
"obs_state_48",
|
| 463 |
+
"obs_state_49",
|
| 464 |
+
"obs_state_50",
|
| 465 |
+
"obs_state_51",
|
| 466 |
+
"obs_state_52",
|
| 467 |
+
"obs_state_53",
|
| 468 |
+
"obs_state_54",
|
| 469 |
+
"obs_state_55",
|
| 470 |
+
"obs_state_56",
|
| 471 |
+
"obs_state_57",
|
| 472 |
+
"obs_state_58",
|
| 473 |
+
"obs_state_59",
|
| 474 |
+
"obs_state_60",
|
| 475 |
+
"obs_state_61",
|
| 476 |
+
"obs_state_62",
|
| 477 |
+
"obs_state_63"
|
| 478 |
+
]
|
| 479 |
+
},
|
| 480 |
+
"action": {
|
| 481 |
+
"dtype": "float64",
|
| 482 |
+
"shape": [
|
| 483 |
+
26
|
| 484 |
+
],
|
| 485 |
+
"names": [
|
| 486 |
+
"action_0",
|
| 487 |
+
"action_1",
|
| 488 |
+
"action_2",
|
| 489 |
+
"action_3",
|
| 490 |
+
"action_4",
|
| 491 |
+
"action_5",
|
| 492 |
+
"action_6",
|
| 493 |
+
"action_7",
|
| 494 |
+
"action_8",
|
| 495 |
+
"action_9",
|
| 496 |
+
"action_10",
|
| 497 |
+
"action_11",
|
| 498 |
+
"action_12",
|
| 499 |
+
"action_13",
|
| 500 |
+
"action_14",
|
| 501 |
+
"action_15",
|
| 502 |
+
"action_16",
|
| 503 |
+
"action_17",
|
| 504 |
+
"action_18",
|
| 505 |
+
"action_19",
|
| 506 |
+
"action_20",
|
| 507 |
+
"action_21",
|
| 508 |
+
"action_22",
|
| 509 |
+
"action_23",
|
| 510 |
+
"action_24",
|
| 511 |
+
"action_25"
|
| 512 |
+
]
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"data_files_size_in_mb": 100,
|
| 516 |
+
"video_files_size_in_mb": 200
|
| 517 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,986 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.images.head_right_rgb": {
|
| 3 |
+
"min": [
|
| 4 |
+
[
|
| 5 |
+
[
|
| 6 |
+
0.0
|
| 7 |
+
]
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
[
|
| 11 |
+
0.0
|
| 12 |
+
]
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
[
|
| 16 |
+
0.0
|
| 17 |
+
]
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"max": [
|
| 21 |
+
[
|
| 22 |
+
[
|
| 23 |
+
1.0
|
| 24 |
+
]
|
| 25 |
+
],
|
| 26 |
+
[
|
| 27 |
+
[
|
| 28 |
+
1.0
|
| 29 |
+
]
|
| 30 |
+
],
|
| 31 |
+
[
|
| 32 |
+
[
|
| 33 |
+
1.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
],
|
| 37 |
+
"mean": [
|
| 38 |
+
[
|
| 39 |
+
[
|
| 40 |
+
0.5166535074960446
|
| 41 |
+
]
|
| 42 |
+
],
|
| 43 |
+
[
|
| 44 |
+
[
|
| 45 |
+
0.5450776283477649
|
| 46 |
+
]
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
[
|
| 50 |
+
0.5149424621934537
|
| 51 |
+
]
|
| 52 |
+
]
|
| 53 |
+
],
|
| 54 |
+
"std": [
|
| 55 |
+
[
|
| 56 |
+
[
|
| 57 |
+
0.18879586144166816
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
[
|
| 62 |
+
0.1926480199000774
|
| 63 |
+
]
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
[
|
| 67 |
+
0.1926743115162904
|
| 68 |
+
]
|
| 69 |
+
]
|
| 70 |
+
],
|
| 71 |
+
"count": [
|
| 72 |
+
11717
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
+
"action.right_gripper": {
|
| 76 |
+
"min": [
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
"max": [
|
| 80 |
+
100.0
|
| 81 |
+
],
|
| 82 |
+
"mean": [
|
| 83 |
+
80.02300506193039
|
| 84 |
+
],
|
| 85 |
+
"std": [
|
| 86 |
+
39.89568478913412
|
| 87 |
+
],
|
| 88 |
+
"count": [
|
| 89 |
+
72474
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
"action.left_gripper": {
|
| 93 |
+
"min": [
|
| 94 |
+
0.0
|
| 95 |
+
],
|
| 96 |
+
"max": [
|
| 97 |
+
100.0
|
| 98 |
+
],
|
| 99 |
+
"mean": [
|
| 100 |
+
70.37874965303168
|
| 101 |
+
],
|
| 102 |
+
"std": [
|
| 103 |
+
45.583130731648346
|
| 104 |
+
],
|
| 105 |
+
"count": [
|
| 106 |
+
72474
|
| 107 |
+
]
|
| 108 |
+
},
|
| 109 |
+
"observation.state.left_gripper": {
|
| 110 |
+
"min": [
|
| 111 |
+
2.58316869297065
|
| 112 |
+
],
|
| 113 |
+
"max": [
|
| 114 |
+
102.43726878737212
|
| 115 |
+
],
|
| 116 |
+
"mean": [
|
| 117 |
+
73.16848987260634
|
| 118 |
+
],
|
| 119 |
+
"std": [
|
| 120 |
+
41.720535682402094
|
| 121 |
+
],
|
| 122 |
+
"count": [
|
| 123 |
+
72474
|
| 124 |
+
]
|
| 125 |
+
},
|
| 126 |
+
"action.torso.velocities": {
|
| 127 |
+
"min": [
|
| 128 |
+
0.0,
|
| 129 |
+
0.0,
|
| 130 |
+
0.0,
|
| 131 |
+
0.0,
|
| 132 |
+
0.0,
|
| 133 |
+
0.0
|
| 134 |
+
],
|
| 135 |
+
"max": [
|
| 136 |
+
0.0,
|
| 137 |
+
0.0,
|
| 138 |
+
0.0,
|
| 139 |
+
0.0,
|
| 140 |
+
0.0,
|
| 141 |
+
0.0
|
| 142 |
+
],
|
| 143 |
+
"mean": [
|
| 144 |
+
0.0,
|
| 145 |
+
0.0,
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.0,
|
| 149 |
+
0.0
|
| 150 |
+
],
|
| 151 |
+
"std": [
|
| 152 |
+
0.0,
|
| 153 |
+
0.0,
|
| 154 |
+
0.0,
|
| 155 |
+
0.0,
|
| 156 |
+
0.0,
|
| 157 |
+
0.0
|
| 158 |
+
],
|
| 159 |
+
"count": [
|
| 160 |
+
72474
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"observation.state.right_ee_pose": {
|
| 164 |
+
"min": [
|
| 165 |
+
-0.01869589773810121,
|
| 166 |
+
-0.5256773914537701,
|
| 167 |
+
0.2714924329541438,
|
| 168 |
+
-0.1445438055969542,
|
| 169 |
+
-0.08376671695983083,
|
| 170 |
+
-0.2496773381745313,
|
| 171 |
+
0.6152364636878748
|
| 172 |
+
],
|
| 173 |
+
"max": [
|
| 174 |
+
0.48482400162284445,
|
| 175 |
+
0.01085343663153988,
|
| 176 |
+
0.5607711093891595,
|
| 177 |
+
0.7161580013549645,
|
| 178 |
+
0.5560224908617919,
|
| 179 |
+
0.5807528884864929,
|
| 180 |
+
0.9999997753737575
|
| 181 |
+
],
|
| 182 |
+
"mean": [
|
| 183 |
+
0.17877365814556617,
|
| 184 |
+
-0.2469444538560155,
|
| 185 |
+
0.4237186460613493,
|
| 186 |
+
0.25488198581374605,
|
| 187 |
+
0.2272349657015904,
|
| 188 |
+
0.20931130406721685,
|
| 189 |
+
0.8459951810363245
|
| 190 |
+
],
|
| 191 |
+
"std": [
|
| 192 |
+
0.1092496260933107,
|
| 193 |
+
0.0838491184255932,
|
| 194 |
+
0.06370657923138083,
|
| 195 |
+
0.24664123899078616,
|
| 196 |
+
0.14363744790294172,
|
| 197 |
+
0.18111281863308734,
|
| 198 |
+
0.09805562216943416
|
| 199 |
+
],
|
| 200 |
+
"count": [
|
| 201 |
+
72474
|
| 202 |
+
]
|
| 203 |
+
},
|
| 204 |
+
"action.left_arm": {
|
| 205 |
+
"min": [
|
| 206 |
+
-1.0293011086712651,
|
| 207 |
+
0.0,
|
| 208 |
+
-1.731864309522889,
|
| 209 |
+
-1.317689496793766,
|
| 210 |
+
-0.432582582183751,
|
| 211 |
+
-1.6751070203711202
|
| 212 |
+
],
|
| 213 |
+
"max": [
|
| 214 |
+
0.17027186745530587,
|
| 215 |
+
2.345456624677145,
|
| 216 |
+
0.0,
|
| 217 |
+
0.6181942575179135,
|
| 218 |
+
0.6350680461846556,
|
| 219 |
+
0.2807184841830723
|
| 220 |
+
],
|
| 221 |
+
"mean": [
|
| 222 |
+
-0.2801812967278558,
|
| 223 |
+
1.129768036999679,
|
| 224 |
+
-0.5496801761899135,
|
| 225 |
+
-0.2591815380841757,
|
| 226 |
+
-0.10845427876929889,
|
| 227 |
+
-0.8057099080546153
|
| 228 |
+
],
|
| 229 |
+
"std": [
|
| 230 |
+
0.2849445600551784,
|
| 231 |
+
0.5269041300567675,
|
| 232 |
+
0.32204498467340226,
|
| 233 |
+
0.29912015864341407,
|
| 234 |
+
0.16755780925347152,
|
| 235 |
+
0.6080375153127023
|
| 236 |
+
],
|
| 237 |
+
"count": [
|
| 238 |
+
72474
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"observation.state.right_arm.velocities": {
|
| 242 |
+
"min": [
|
| 243 |
+
-0.884,
|
| 244 |
+
-0.9122596561110005,
|
| 245 |
+
-1.1466666666666667,
|
| 246 |
+
-1.7065048954279722,
|
| 247 |
+
-1.2468783043294995,
|
| 248 |
+
-1.443318423855165
|
| 249 |
+
],
|
| 250 |
+
"max": [
|
| 251 |
+
1.0828884565499353,
|
| 252 |
+
0.7536713951246385,
|
| 253 |
+
1.1071668794737861,
|
| 254 |
+
1.782066871999778,
|
| 255 |
+
1.1272361776616169,
|
| 256 |
+
1.7646746345859947
|
| 257 |
+
],
|
| 258 |
+
"mean": [
|
| 259 |
+
-0.004467658485536778,
|
| 260 |
+
-0.002598028714718499,
|
| 261 |
+
-0.004688163907568093,
|
| 262 |
+
0.0005208969429128761,
|
| 263 |
+
-0.00029568414914269006,
|
| 264 |
+
0.00012991574000924863
|
| 265 |
+
],
|
| 266 |
+
"std": [
|
| 267 |
+
0.15537177641951722,
|
| 268 |
+
0.24863535992597008,
|
| 269 |
+
0.2115526591973623,
|
| 270 |
+
0.20180314455702564,
|
| 271 |
+
0.12202649277789696,
|
| 272 |
+
0.20434514626430492
|
| 273 |
+
],
|
| 274 |
+
"count": [
|
| 275 |
+
72474
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
"observation.state.left_arm": {
|
| 279 |
+
"min": [
|
| 280 |
+
-1.0278723404255319,
|
| 281 |
+
-0.000425531914893617,
|
| 282 |
+
-1.731276595744681,
|
| 283 |
+
-1.3291489361702127,
|
| 284 |
+
-0.4271940879665087,
|
| 285 |
+
-1.6659321841666712
|
| 286 |
+
],
|
| 287 |
+
"max": [
|
| 288 |
+
0.1697872340425532,
|
| 289 |
+
2.332340425531915,
|
| 290 |
+
0.0,
|
| 291 |
+
0.6140490496993501,
|
| 292 |
+
0.63,
|
| 293 |
+
0.2797872340425532
|
| 294 |
+
],
|
| 295 |
+
"mean": [
|
| 296 |
+
-0.2804002224281558,
|
| 297 |
+
1.1298043523364587,
|
| 298 |
+
-0.5499871547395441,
|
| 299 |
+
-0.25804963762510086,
|
| 300 |
+
-0.10797977163040744,
|
| 301 |
+
-0.8016632760670103
|
| 302 |
+
],
|
| 303 |
+
"std": [
|
| 304 |
+
0.28500825172348276,
|
| 305 |
+
0.5271223550739166,
|
| 306 |
+
0.32228453363201165,
|
| 307 |
+
0.2972229902342584,
|
| 308 |
+
0.16623177208909048,
|
| 309 |
+
0.6047663949886392
|
| 310 |
+
],
|
| 311 |
+
"count": [
|
| 312 |
+
72474
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
"observation.state.chassis": {
|
| 316 |
+
"min": [
|
| 317 |
+
-0.0020000000949949026,
|
| 318 |
+
0.0011640437711361042,
|
| 319 |
+
-0.00800000037997961
|
| 320 |
+
],
|
| 321 |
+
"max": [
|
| 322 |
+
0.009999999776482582,
|
| 323 |
+
0.009999999776482582,
|
| 324 |
+
0.008999999612569809
|
| 325 |
+
],
|
| 326 |
+
"mean": [
|
| 327 |
+
0.0017488782850608657,
|
| 328 |
+
0.0024602854751815915,
|
| 329 |
+
-0.0011990645338859206
|
| 330 |
+
],
|
| 331 |
+
"std": [
|
| 332 |
+
0.002080407946184221,
|
| 333 |
+
0.001556517987980558,
|
| 334 |
+
0.003065967906248601
|
| 335 |
+
],
|
| 336 |
+
"count": [
|
| 337 |
+
72474
|
| 338 |
+
]
|
| 339 |
+
},
|
| 340 |
+
"observation.state.torso": {
|
| 341 |
+
"min": [
|
| 342 |
+
-1.0908000469207764,
|
| 343 |
+
2.152400016784668,
|
| 344 |
+
0.9793999791145325,
|
| 345 |
+
0.0
|
| 346 |
+
],
|
| 347 |
+
"max": [
|
| 348 |
+
-1.0812000036239624,
|
| 349 |
+
2.1677000522613525,
|
| 350 |
+
0.9958000183105469,
|
| 351 |
+
0.0
|
| 352 |
+
],
|
| 353 |
+
"mean": [
|
| 354 |
+
-1.086598046422392,
|
| 355 |
+
2.1619079188742156,
|
| 356 |
+
0.9891640501704666,
|
| 357 |
+
0.0
|
| 358 |
+
],
|
| 359 |
+
"std": [
|
| 360 |
+
0.0020930312948236455,
|
| 361 |
+
0.00329554123623898,
|
| 362 |
+
0.0037990225105263477,
|
| 363 |
+
0.0
|
| 364 |
+
],
|
| 365 |
+
"count": [
|
| 366 |
+
72474
|
| 367 |
+
]
|
| 368 |
+
},
|
| 369 |
+
"observation.state.torso.velocities": {
|
| 370 |
+
"min": [
|
| 371 |
+
-0.03448385704322753,
|
| 372 |
+
-0.035531762806407935,
|
| 373 |
+
-0.017000000923871994,
|
| 374 |
+
0.0
|
| 375 |
+
],
|
| 376 |
+
"max": [
|
| 377 |
+
0.020887058170426628,
|
| 378 |
+
0.035867470088339876,
|
| 379 |
+
0.01249520975404335,
|
| 380 |
+
0.0
|
| 381 |
+
],
|
| 382 |
+
"mean": [
|
| 383 |
+
-0.0023346107522046636,
|
| 384 |
+
-0.0023749786050093025,
|
| 385 |
+
-0.0023325151027095946,
|
| 386 |
+
0.0
|
| 387 |
+
],
|
| 388 |
+
"std": [
|
| 389 |
+
0.0030303842186094414,
|
| 390 |
+
0.0036894676042289317,
|
| 391 |
+
0.0032635466792305654,
|
| 392 |
+
0.0
|
| 393 |
+
],
|
| 394 |
+
"count": [
|
| 395 |
+
72474
|
| 396 |
+
]
|
| 397 |
+
},
|
| 398 |
+
"index": {
|
| 399 |
+
"min": [
|
| 400 |
+
0
|
| 401 |
+
],
|
| 402 |
+
"max": [
|
| 403 |
+
1620
|
| 404 |
+
],
|
| 405 |
+
"mean": [
|
| 406 |
+
727.015012280266
|
| 407 |
+
],
|
| 408 |
+
"std": [
|
| 409 |
+
423.1495145718001
|
| 410 |
+
],
|
| 411 |
+
"count": [
|
| 412 |
+
72474
|
| 413 |
+
]
|
| 414 |
+
},
|
| 415 |
+
"observation.state.right_gripper": {
|
| 416 |
+
"min": [
|
| 417 |
+
7.587380218719891
|
| 418 |
+
],
|
| 419 |
+
"max": [
|
| 420 |
+
100.82234683247938
|
| 421 |
+
],
|
| 422 |
+
"mean": [
|
| 423 |
+
82.22316864064223
|
| 424 |
+
],
|
| 425 |
+
"std": [
|
| 426 |
+
33.87077335194976
|
| 427 |
+
],
|
| 428 |
+
"count": [
|
| 429 |
+
72474
|
| 430 |
+
]
|
| 431 |
+
},
|
| 432 |
+
"task_index": {
|
| 433 |
+
"min": [
|
| 434 |
+
0
|
| 435 |
+
],
|
| 436 |
+
"max": [
|
| 437 |
+
0
|
| 438 |
+
],
|
| 439 |
+
"mean": [
|
| 440 |
+
0.0
|
| 441 |
+
],
|
| 442 |
+
"std": [
|
| 443 |
+
0.0
|
| 444 |
+
],
|
| 445 |
+
"count": [
|
| 446 |
+
72474
|
| 447 |
+
]
|
| 448 |
+
},
|
| 449 |
+
"observation.images.right_wrist_rgb": {
|
| 450 |
+
"min": [
|
| 451 |
+
[
|
| 452 |
+
[
|
| 453 |
+
0.0
|
| 454 |
+
]
|
| 455 |
+
],
|
| 456 |
+
[
|
| 457 |
+
[
|
| 458 |
+
0.0
|
| 459 |
+
]
|
| 460 |
+
],
|
| 461 |
+
[
|
| 462 |
+
[
|
| 463 |
+
0.0
|
| 464 |
+
]
|
| 465 |
+
]
|
| 466 |
+
],
|
| 467 |
+
"max": [
|
| 468 |
+
[
|
| 469 |
+
[
|
| 470 |
+
1.0
|
| 471 |
+
]
|
| 472 |
+
],
|
| 473 |
+
[
|
| 474 |
+
[
|
| 475 |
+
1.0
|
| 476 |
+
]
|
| 477 |
+
],
|
| 478 |
+
[
|
| 479 |
+
[
|
| 480 |
+
1.0
|
| 481 |
+
]
|
| 482 |
+
]
|
| 483 |
+
],
|
| 484 |
+
"mean": [
|
| 485 |
+
[
|
| 486 |
+
[
|
| 487 |
+
0.42987820387132786
|
| 488 |
+
]
|
| 489 |
+
],
|
| 490 |
+
[
|
| 491 |
+
[
|
| 492 |
+
0.4379501142642675
|
| 493 |
+
]
|
| 494 |
+
],
|
| 495 |
+
[
|
| 496 |
+
[
|
| 497 |
+
0.4267264278640629
|
| 498 |
+
]
|
| 499 |
+
]
|
| 500 |
+
],
|
| 501 |
+
"std": [
|
| 502 |
+
[
|
| 503 |
+
[
|
| 504 |
+
0.23016855495262722
|
| 505 |
+
]
|
| 506 |
+
],
|
| 507 |
+
[
|
| 508 |
+
[
|
| 509 |
+
0.22092402475238973
|
| 510 |
+
]
|
| 511 |
+
],
|
| 512 |
+
[
|
| 513 |
+
[
|
| 514 |
+
0.23679256186530123
|
| 515 |
+
]
|
| 516 |
+
]
|
| 517 |
+
],
|
| 518 |
+
"count": [
|
| 519 |
+
11717
|
| 520 |
+
]
|
| 521 |
+
},
|
| 522 |
+
"observation.state.left_ee_pose": {
|
| 523 |
+
"min": [
|
| 524 |
+
0.009597395685700939,
|
| 525 |
+
-0.12800775700340394,
|
| 526 |
+
0.2591691397297485,
|
| 527 |
+
-0.7051566422279545,
|
| 528 |
+
-0.09742821414061323,
|
| 529 |
+
-0.473745113815591,
|
| 530 |
+
0.621693395497304
|
| 531 |
+
],
|
| 532 |
+
"max": [
|
| 533 |
+
0.4480959991460632,
|
| 534 |
+
0.3831890457629929,
|
| 535 |
+
0.5953786114427451,
|
| 536 |
+
0.1468673106972864,
|
| 537 |
+
0.42813008934262353,
|
| 538 |
+
0.2740917883589504,
|
| 539 |
+
0.9999978293129435
|
| 540 |
+
],
|
| 541 |
+
"mean": [
|
| 542 |
+
0.20419816810302419,
|
| 543 |
+
0.25747579015135047,
|
| 544 |
+
0.41161464956010707,
|
| 545 |
+
-0.35279181255470626,
|
| 546 |
+
0.18537021721077326,
|
| 547 |
+
-0.08471939219306102,
|
| 548 |
+
0.8347254886158464
|
| 549 |
+
],
|
| 550 |
+
"std": [
|
| 551 |
+
0.09304307091700185,
|
| 552 |
+
0.08294188132401438,
|
| 553 |
+
0.08002442038479467,
|
| 554 |
+
0.2695904652285015,
|
| 555 |
+
0.12208216446789279,
|
| 556 |
+
0.19456803316358495,
|
| 557 |
+
0.10859101921724024
|
| 558 |
+
],
|
| 559 |
+
"count": [
|
| 560 |
+
72474
|
| 561 |
+
]
|
| 562 |
+
},
|
| 563 |
+
"observation.state.left_arm.velocities": {
|
| 564 |
+
"min": [
|
| 565 |
+
-0.9020017271157167,
|
| 566 |
+
-1.0267696867198197,
|
| 567 |
+
-1.1406511391116203,
|
| 568 |
+
-1.9262119514009421,
|
| 569 |
+
-1.7668189564706376,
|
| 570 |
+
-1.718325681184295
|
| 571 |
+
],
|
| 572 |
+
"max": [
|
| 573 |
+
0.8933333333333333,
|
| 574 |
+
0.8340678660231096,
|
| 575 |
+
1.0986666666666667,
|
| 576 |
+
1.9927732243455207,
|
| 577 |
+
1.0766909296624554,
|
| 578 |
+
1.8026914542020773
|
| 579 |
+
],
|
| 580 |
+
"mean": [
|
| 581 |
+
-0.0044547389769961435,
|
| 582 |
+
-0.002545214599586664,
|
| 583 |
+
-0.004801608464623635,
|
| 584 |
+
0.001042535683507323,
|
| 585 |
+
-0.0003202321930711844,
|
| 586 |
+
0.00015038066771403603
|
| 587 |
+
],
|
| 588 |
+
"std": [
|
| 589 |
+
0.1450572534715392,
|
| 590 |
+
0.25210472686527396,
|
| 591 |
+
0.18814136000689996,
|
| 592 |
+
0.2007902606602733,
|
| 593 |
+
0.10266238095802546,
|
| 594 |
+
0.27188622400436285
|
| 595 |
+
],
|
| 596 |
+
"count": [
|
| 597 |
+
72474
|
| 598 |
+
]
|
| 599 |
+
},
|
| 600 |
+
"observation.state.chassis.imu": {
|
| 601 |
+
"min": [
|
| 602 |
+
-0.1346608408952913,
|
| 603 |
+
-0.11241121955387956,
|
| 604 |
+
-0.7974651618753649,
|
| 605 |
+
-0.9939476146037027,
|
| 606 |
+
-0.439383330204618,
|
| 607 |
+
-0.1924477108433735,
|
| 608 |
+
-0.63,
|
| 609 |
+
-0.02991534977352793,
|
| 610 |
+
-0.026376363542366745,
|
| 611 |
+
-1.0140446880008271
|
| 612 |
+
],
|
| 613 |
+
"max": [
|
| 614 |
+
0.1469419279299051,
|
| 615 |
+
0.0849185452223987,
|
| 616 |
+
0.7816677868306443,
|
| 617 |
+
0.9962775827656526,
|
| 618 |
+
0.29474446377356717,
|
| 619 |
+
0.5051001137093983,
|
| 620 |
+
0.73,
|
| 621 |
+
0.022305442243577174,
|
| 622 |
+
0.0336,
|
| 623 |
+
-0.9852
|
| 624 |
+
],
|
| 625 |
+
"mean": [
|
| 626 |
+
0.007767115330130976,
|
| 627 |
+
-0.04403959580520453,
|
| 628 |
+
-0.37248272954629486,
|
| 629 |
+
0.14283796742281413,
|
| 630 |
+
-0.04198812338290364,
|
| 631 |
+
0.1675769635740613,
|
| 632 |
+
0.02764161068467544,
|
| 633 |
+
-0.000791110750078739,
|
| 634 |
+
-0.004062644914397156,
|
| 635 |
+
-1.000618678216289
|
| 636 |
+
],
|
| 637 |
+
"std": [
|
| 638 |
+
0.10399464366624141,
|
| 639 |
+
0.03531352527741974,
|
| 640 |
+
0.4269685830264885,
|
| 641 |
+
0.8028013548210962,
|
| 642 |
+
0.04652813975803672,
|
| 643 |
+
0.07682122712066633,
|
| 644 |
+
0.07011600104521798,
|
| 645 |
+
0.0035823758471174904,
|
| 646 |
+
0.0025576149227749816,
|
| 647 |
+
0.0012079505178351085
|
| 648 |
+
],
|
| 649 |
+
"count": [
|
| 650 |
+
72474
|
| 651 |
+
]
|
| 652 |
+
},
|
| 653 |
+
"action.chassis.velocities": {
|
| 654 |
+
"min": [
|
| 655 |
+
0.0,
|
| 656 |
+
0.0,
|
| 657 |
+
0.0,
|
| 658 |
+
0.0,
|
| 659 |
+
0.0,
|
| 660 |
+
0.0
|
| 661 |
+
],
|
| 662 |
+
"max": [
|
| 663 |
+
0.0,
|
| 664 |
+
0.0,
|
| 665 |
+
0.0,
|
| 666 |
+
0.0,
|
| 667 |
+
0.0,
|
| 668 |
+
0.0
|
| 669 |
+
],
|
| 670 |
+
"mean": [
|
| 671 |
+
0.0,
|
| 672 |
+
0.0,
|
| 673 |
+
0.0,
|
| 674 |
+
0.0,
|
| 675 |
+
0.0,
|
| 676 |
+
0.0
|
| 677 |
+
],
|
| 678 |
+
"std": [
|
| 679 |
+
0.0,
|
| 680 |
+
0.0,
|
| 681 |
+
0.0,
|
| 682 |
+
0.0,
|
| 683 |
+
0.0,
|
| 684 |
+
0.0
|
| 685 |
+
],
|
| 686 |
+
"count": [
|
| 687 |
+
72474
|
| 688 |
+
]
|
| 689 |
+
},
|
| 690 |
+
"timestamp": {
|
| 691 |
+
"min": [
|
| 692 |
+
0.0
|
| 693 |
+
],
|
| 694 |
+
"max": [
|
| 695 |
+
52.25806451612903
|
| 696 |
+
],
|
| 697 |
+
"mean": [
|
| 698 |
+
23.452097170331157
|
| 699 |
+
],
|
| 700 |
+
"std": [
|
| 701 |
+
13.64998434102581
|
| 702 |
+
],
|
| 703 |
+
"count": [
|
| 704 |
+
72474
|
| 705 |
+
]
|
| 706 |
+
},
|
| 707 |
+
"action.right_arm": {
|
| 708 |
+
"min": [
|
| 709 |
+
-0.840621471761331,
|
| 710 |
+
0.0,
|
| 711 |
+
-1.9343497735237936,
|
| 712 |
+
-1.095262282550348,
|
| 713 |
+
-0.44638840927472145,
|
| 714 |
+
-0.21782527187976108
|
| 715 |
+
],
|
| 716 |
+
"max": [
|
| 717 |
+
0.9387962421860121,
|
| 718 |
+
2.276427489222291,
|
| 719 |
+
0.0,
|
| 720 |
+
0.8130098175793897,
|
| 721 |
+
0.8452234141249884,
|
| 722 |
+
1.4173982480063325
|
| 723 |
+
],
|
| 724 |
+
"mean": [
|
| 725 |
+
0.3019859950865936,
|
| 726 |
+
1.0436298136556699,
|
| 727 |
+
-0.6437847583954319,
|
| 728 |
+
-0.04713916750689944,
|
| 729 |
+
0.31424595024593727,
|
| 730 |
+
0.5685318112782951
|
| 731 |
+
],
|
| 732 |
+
"std": [
|
| 733 |
+
0.36645625380038277,
|
| 734 |
+
0.557922259456033,
|
| 735 |
+
0.3686190520791921,
|
| 736 |
+
0.28028929829164473,
|
| 737 |
+
0.23727887082989604,
|
| 738 |
+
0.5114397129071576
|
| 739 |
+
],
|
| 740 |
+
"count": [
|
| 741 |
+
72474
|
| 742 |
+
]
|
| 743 |
+
},
|
| 744 |
+
"observation.state.chassis.velocities": {
|
| 745 |
+
"min": [
|
| 746 |
+
-0.0016643304085226737,
|
| 747 |
+
-0.0029186106225256516,
|
| 748 |
+
-0.0011453797173452394
|
| 749 |
+
],
|
| 750 |
+
"max": [
|
| 751 |
+
0.002697664257025668,
|
| 752 |
+
0.003920047154931281,
|
| 753 |
+
0.0029629741255274207
|
| 754 |
+
],
|
| 755 |
+
"mean": [
|
| 756 |
+
0.0002143497941343749,
|
| 757 |
+
0.00022466156121199964,
|
| 758 |
+
0.00024399481185180316
|
| 759 |
+
],
|
| 760 |
+
"std": [
|
| 761 |
+
0.00035304334543689257,
|
| 762 |
+
0.0003893576248156144,
|
| 763 |
+
0.0004229116600012486
|
| 764 |
+
],
|
| 765 |
+
"count": [
|
| 766 |
+
72474
|
| 767 |
+
]
|
| 768 |
+
},
|
| 769 |
+
"observation.state.right_arm": {
|
| 770 |
+
"min": [
|
| 771 |
+
-0.8404255319148937,
|
| 772 |
+
-0.0027659574468085106,
|
| 773 |
+
-1.9329787234042553,
|
| 774 |
+
-1.1136170212765957,
|
| 775 |
+
-0.4440425531914894,
|
| 776 |
+
-0.21680851063829787
|
| 777 |
+
],
|
| 778 |
+
"max": [
|
| 779 |
+
0.9376595744680851,
|
| 780 |
+
2.2725531914893615,
|
| 781 |
+
0.000425531914893617,
|
| 782 |
+
0.8056745588804867,
|
| 783 |
+
0.8404255319148937,
|
| 784 |
+
1.4095744680851063
|
| 785 |
+
],
|
| 786 |
+
"mean": [
|
| 787 |
+
0.30159162305459714,
|
| 788 |
+
1.0435335053333674,
|
| 789 |
+
-0.6440014528943203,
|
| 790 |
+
-0.047014999104037766,
|
| 791 |
+
0.3121280902997025,
|
| 792 |
+
0.5660265265472033
|
| 793 |
+
],
|
| 794 |
+
"std": [
|
| 795 |
+
0.36605195344051955,
|
| 796 |
+
0.5579035209821757,
|
| 797 |
+
0.3688775434823265,
|
| 798 |
+
0.27847000589696674,
|
| 799 |
+
0.23606457779188383,
|
| 800 |
+
0.5084666049681021
|
| 801 |
+
],
|
| 802 |
+
"count": [
|
| 803 |
+
72474
|
| 804 |
+
]
|
| 805 |
+
},
|
| 806 |
+
"episode_index": {
|
| 807 |
+
"min": [
|
| 808 |
+
0
|
| 809 |
+
],
|
| 810 |
+
"max": [
|
| 811 |
+
0
|
| 812 |
+
],
|
| 813 |
+
"mean": [
|
| 814 |
+
0.0
|
| 815 |
+
],
|
| 816 |
+
"std": [
|
| 817 |
+
0.0
|
| 818 |
+
],
|
| 819 |
+
"count": [
|
| 820 |
+
72474
|
| 821 |
+
]
|
| 822 |
+
},
|
| 823 |
+
"observation.images.head_rgb": {
|
| 824 |
+
"min": [
|
| 825 |
+
[
|
| 826 |
+
[
|
| 827 |
+
0.0
|
| 828 |
+
]
|
| 829 |
+
],
|
| 830 |
+
[
|
| 831 |
+
[
|
| 832 |
+
0.0
|
| 833 |
+
]
|
| 834 |
+
],
|
| 835 |
+
[
|
| 836 |
+
[
|
| 837 |
+
0.0
|
| 838 |
+
]
|
| 839 |
+
]
|
| 840 |
+
],
|
| 841 |
+
"max": [
|
| 842 |
+
[
|
| 843 |
+
[
|
| 844 |
+
1.0
|
| 845 |
+
]
|
| 846 |
+
],
|
| 847 |
+
[
|
| 848 |
+
[
|
| 849 |
+
1.0
|
| 850 |
+
]
|
| 851 |
+
],
|
| 852 |
+
[
|
| 853 |
+
[
|
| 854 |
+
1.0
|
| 855 |
+
]
|
| 856 |
+
]
|
| 857 |
+
],
|
| 858 |
+
"mean": [
|
| 859 |
+
[
|
| 860 |
+
[
|
| 861 |
+
0.5329130180753325
|
| 862 |
+
]
|
| 863 |
+
],
|
| 864 |
+
[
|
| 865 |
+
[
|
| 866 |
+
0.5659153093572212
|
| 867 |
+
]
|
| 868 |
+
],
|
| 869 |
+
[
|
| 870 |
+
[
|
| 871 |
+
0.5363986369124949
|
| 872 |
+
]
|
| 873 |
+
]
|
| 874 |
+
],
|
| 875 |
+
"std": [
|
| 876 |
+
[
|
| 877 |
+
[
|
| 878 |
+
0.19704146976040185
|
| 879 |
+
]
|
| 880 |
+
],
|
| 881 |
+
[
|
| 882 |
+
[
|
| 883 |
+
0.20308169807266746
|
| 884 |
+
]
|
| 885 |
+
],
|
| 886 |
+
[
|
| 887 |
+
[
|
| 888 |
+
0.20369569442168708
|
| 889 |
+
]
|
| 890 |
+
]
|
| 891 |
+
],
|
| 892 |
+
"count": [
|
| 893 |
+
11717
|
| 894 |
+
]
|
| 895 |
+
},
|
| 896 |
+
"observation.images.left_wrist_rgb": {
|
| 897 |
+
"min": [
|
| 898 |
+
[
|
| 899 |
+
[
|
| 900 |
+
0.0
|
| 901 |
+
]
|
| 902 |
+
],
|
| 903 |
+
[
|
| 904 |
+
[
|
| 905 |
+
0.0
|
| 906 |
+
]
|
| 907 |
+
],
|
| 908 |
+
[
|
| 909 |
+
[
|
| 910 |
+
0.0
|
| 911 |
+
]
|
| 912 |
+
]
|
| 913 |
+
],
|
| 914 |
+
"max": [
|
| 915 |
+
[
|
| 916 |
+
[
|
| 917 |
+
1.0
|
| 918 |
+
]
|
| 919 |
+
],
|
| 920 |
+
[
|
| 921 |
+
[
|
| 922 |
+
1.0
|
| 923 |
+
]
|
| 924 |
+
],
|
| 925 |
+
[
|
| 926 |
+
[
|
| 927 |
+
1.0
|
| 928 |
+
]
|
| 929 |
+
]
|
| 930 |
+
],
|
| 931 |
+
"mean": [
|
| 932 |
+
[
|
| 933 |
+
[
|
| 934 |
+
0.4706773725791417
|
| 935 |
+
]
|
| 936 |
+
],
|
| 937 |
+
[
|
| 938 |
+
[
|
| 939 |
+
0.4769864033842416
|
| 940 |
+
]
|
| 941 |
+
],
|
| 942 |
+
[
|
| 943 |
+
[
|
| 944 |
+
0.46737706555173814
|
| 945 |
+
]
|
| 946 |
+
]
|
| 947 |
+
],
|
| 948 |
+
"std": [
|
| 949 |
+
[
|
| 950 |
+
[
|
| 951 |
+
0.218286209852602
|
| 952 |
+
]
|
| 953 |
+
],
|
| 954 |
+
[
|
| 955 |
+
[
|
| 956 |
+
0.20676932737939968
|
| 957 |
+
]
|
| 958 |
+
],
|
| 959 |
+
[
|
| 960 |
+
[
|
| 961 |
+
0.21771052634354357
|
| 962 |
+
]
|
| 963 |
+
]
|
| 964 |
+
],
|
| 965 |
+
"count": [
|
| 966 |
+
11717
|
| 967 |
+
]
|
| 968 |
+
},
|
| 969 |
+
"frame_index": {
|
| 970 |
+
"min": [
|
| 971 |
+
0
|
| 972 |
+
],
|
| 973 |
+
"max": [
|
| 974 |
+
1620
|
| 975 |
+
],
|
| 976 |
+
"mean": [
|
| 977 |
+
727.015012280266
|
| 978 |
+
],
|
| 979 |
+
"std": [
|
| 980 |
+
423.1495145718001
|
| 981 |
+
],
|
| 982 |
+
"count": [
|
| 983 |
+
72474
|
| 984 |
+
]
|
| 985 |
+
}
|
| 986 |
+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e84b8647034890bd4c2f6241fc4e6eae4c194c7db97470093b219afc1fe5a25a
|
| 3 |
+
size 2040
|
videos/observation.images.head_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5c665092420c86e0025dc71e54f192c21d22a3af1665659b7d37705b0aac4863
|
| 3 |
+
size 198878304
|
videos/observation.images.head_rgb/chunk-000/file-001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:32fee64708cd831e1e833118da0d0f60294b36e9ced7ad0c4069b891ba536680
|
| 3 |
+
size 198154301
|
videos/observation.images.head_rgb/chunk-000/file-002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4688021cfa20cb97cad4ac0e20209b1f7b6fc983180fabd5e71429e10938ef60
|
| 3 |
+
size 203405219
|
videos/observation.images.head_rgb/chunk-000/file-003.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5f50d2bc4639cdde5d18d264420e4cc76e07538e6cea6932151a122217ed83e7
|
| 3 |
+
size 198075614
|
videos/observation.images.head_rgb/chunk-000/file-004.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eb657953d635598eb6eefbee3699a9769d8a45c3a9127cf640ff2bcab84fac03
|
| 3 |
+
size 181756110
|
videos/observation.images.head_right_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e7259e0421bf0ca82b68548c076b596fe63fd23aea062d6d1ae3557e9363180b
|
| 3 |
+
size 197326266
|
videos/observation.images.head_right_rgb/chunk-000/file-001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9d9efa7da75fc3ac910d6f79bfa9a0e6b051f6ed8d95bae7b13e77b072c7dd5e
|
| 3 |
+
size 198380183
|
videos/observation.images.head_right_rgb/chunk-000/file-002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e9cb42016788c35a12340dabd198c0cdec4aeb2f93e0351c527e64322c69942b
|
| 3 |
+
size 200671312
|
videos/observation.images.head_right_rgb/chunk-000/file-003.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5bf35bdf643fb6756f09b1d3aefa2c42f43ef62c7c527cec57111a7e04b43b90
|
| 3 |
+
size 196419299
|
videos/observation.images.head_right_rgb/chunk-000/file-004.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a91ed958e62fb54b1cf443f86741a8cee0e9c38f2a8416fc3faa63711f95981c
|
| 3 |
+
size 180049576
|
videos/observation.images.left_wrist_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ea674e922042460b942c9b3810db553a83e73e5d014def1cd2e36a10bbc5230f
|
| 3 |
+
size 206596848
|
videos/observation.images.left_wrist_rgb/chunk-000/file-001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:152f9a3aa40ba41cdb869fa346cd8736d49422d791843ad65852e5f131d758cc
|
| 3 |
+
size 124429745
|
videos/observation.images.right_wrist_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9587816b976ccd6face9a05bfc9f43d6a8cdb2f8ea687dcdbbd4d582681ddf40
|
| 3 |
+
size 205142034
|
videos/observation.images.right_wrist_rgb/chunk-000/file-001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:700bdb03f8a044944e1b2faea1e10b48b104e82e9d68b20663a9435f7e35535c
|
| 3 |
+
size 201246348
|
videos/observation.images.right_wrist_rgb/chunk-000/file-002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bea7c473117d332800f72b80dbd71e50aca3f5dc9f0ae30ce04d453d7e42d44e
|
| 3 |
+
size 19105214
|