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@@ -2,9 +2,10 @@ "task": "lift_board", "dataset_name": "oakink", "robot_type": "allegro", - "hand_type": "bimanual", + "embodiment_type": "bimanual", "data_id": 0, "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001", "left_object_mesh_dir": null, + "ref_dt": 0.02, "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex" } \ No newline at end of file diff --git a/processed/oakink/assets/objects/C12001/convex/0.obj b/processed/oakink/assets/objects/C12001/convex/0.obj index e77c5cabaecc914881d0b09a051ccc5b8db7e0c3..925e07e9f50a2c4d8391a437a25cab5192a54696 100644 --- a/processed/oakink/assets/objects/C12001/convex/0.obj +++ b/processed/oakink/assets/objects/C12001/convex/0.obj @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d5763e9340c87a6899e647dbd85d16ed623eb908034e6ad3b52f7a7446c21700 -size 1773 +oid sha256:d247f45964363755a85633e1e13fdfc32296e4579c4f94a71edcc3932c31ad0a +size 1916 diff --git 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a/processed/oakink/xhand/bimanual/lift_board/task_info.json b/processed/oakink/xhand/bimanual/lift_board/task_info.json index 87cca2afd118b6d0baabba994c6c8acd221f5534..643c9ceed303265c0740e8dfac2ea5f69c9df375 100644 --- a/processed/oakink/xhand/bimanual/lift_board/task_info.json +++ b/processed/oakink/xhand/bimanual/lift_board/task_info.json @@ -2,9 +2,10 @@ "task": "lift_board", "dataset_name": "oakink", "robot_type": "xhand", - "hand_type": "bimanual", + "embodiment_type": "bimanual", "data_id": 0, "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001", "left_object_mesh_dir": null, + "ref_dt": 0.02, "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex" } \ No newline at end of file diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz index 95cf08f6c959d2128a1313867791d13fac7107cc..8c57f13a410af7de56bf3726bf6fc7fe71974fa0 100644 --- a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz +++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3bf4f07b174f507b1d326679cb20cffc2a2ed34f888558b9e272eaad8408e95b -size 696662 +oid sha256:9400facaede7b8bcb7d370ec2cc871d36d286440c11b884c282c0efcf077f2f9 +size 696262 diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz index f0dec257eaa86c3b5d2040b327eca82abf64f4dd..d4d250ef0b994cc37b75f3205409c7098af73888 100644 --- a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz +++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:40546551320a2dbd86a3300df731343b5c202244f6542b00a701244c8f8303aa -size 3178380 +oid sha256:0f321280a460a16e885422307857c648554ca6a54f0a8b116377a3ee6d79c5b4 +size 3176556 diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_ik.mp4 b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_ik.mp4 index ef4b542b2efa90b5bf133314b6258979c3e42f61..82e41d72cf0b24b01c9fbc3b46a0cd2a9aba7cd3 100644 --- a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_ik.mp4 +++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_ik.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4ec9111aea537985764e5da0f92ad913b391f8983e586d60f7e78d30f4773bf3 -size 1291603 +oid sha256:53208508a7df7358021beac09f4486e71b1012d1d09319d7c9ffb56d6ecae170 +size 911548 diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/scene.xml b/processed/oakink/xhand/bimanual/pick_spoon_bowl/scene.xml index a631f41054ccc95bb4dcbf0eedf1ee44b19e68b7..2f560e10abf44fb89dbdba315af071020473a70b 100644 --- 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100644 --- a/processed/oakink/xhand/bimanual/pick_spoon_bowl/task_info.json +++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/task_info.json @@ -2,10 +2,11 @@ "task": "pick_spoon_bowl", "dataset_name": "oakink", "robot_type": "xhand", - "hand_type": "bimanual", + "embodiment_type": "bimanual", "data_id": 0, "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002", "left_object_mesh_dir": "processed/oakink/assets/objects/C12001", + "ref_dt": 0.02, "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex", "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex" } \ No newline at end of file diff --git a/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/trajectory_mjwp.npz b/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/trajectory_mjwp.npz index 9787da9956a61d609294ae463a62f085f1925f28..68c7faa1e26fa6a42e79156fe928bd5a6a18fdf4 100644 --- a/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/trajectory_mjwp.npz +++ b/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/trajectory_mjwp.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f65fc2b7e5d3b3440d11113dc59384c2a22eba4ac459559fa42ddc6770c38f7 -size 238638 +oid sha256:43f3c006994f20891fb8b20f67c2ecd55112288f8482c181b659a357fd344b2a +size 340998 diff --git a/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/visualization_mjwp.mp4 b/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/visualization_mjwp.mp4 index 5b764aaec16745a5f59e1e3dc9c22ad6157a4d9b..691d21d17a962f9ff1d890de398f5856c98a94a8 100644 --- a/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/visualization_mjwp.mp4 +++ b/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/visualization_mjwp.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b78fe657bce9dce93db730735e9f1886ce2e993d1b6f2eb6c3c1f9002ad154d0 -size 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