Add files using upload-large-folder tool
Browse files- README.md +10 -0
- annotations/task-0000/episode_00000000.json +37 -0
- data/task-0000/episode_00000000.parquet +3 -0
- info.json +35 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +206 -0
- meta/subtasks.parquet +3 -0
- meta/tasks.jsonl +1 -0
- videos/task-0000/observation.images.rgb.cam_left_head/episode_00000000.mp4 +3 -0
- videos/task-0000/observation.images.rgb.cam_left_wrist/episode_00000000.mp4 +3 -0
- videos/task-0000/observation.images.rgb.cam_right_head/episode_00000000.mp4 +3 -0
- videos/task-0000/observation.images.rgb.cam_right_wrist/episode_00000000.mp4 +3 -0
README.md
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---
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tags:
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- robotis
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- cyclo_intelligence
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- robotics
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---
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# Task_1_CycloIntelligence1_MCAP
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Created with [Cyclo Intelligence](https://github.com/ROBOTIS-GIT/cyclo_intelligence) by ROBOTIS.
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annotations/task-0000/episode_00000000.json
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{
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"task_name": "CycloIntelligence1",
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"data_folder": "",
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"meta_data": {
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"task_duration": 161,
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"valid_duration": [
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0,
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161
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]
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},
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"sub_task_annotation": [
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{
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"sub_task_idx": 0,
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"sub_task_instruction": "subtask 1",
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"frame_duration": [
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0,
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46
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]
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},
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{
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"sub_task_idx": 1,
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"sub_task_instruction": "subtask 2",
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"frame_duration": [
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46,
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98
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]
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},
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{
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"sub_task_idx": 2,
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"sub_task_instruction": "subtask 3",
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"frame_duration": [
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98,
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161
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]
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}
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]
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}
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data/task-0000/episode_00000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:66616f7f6402b96732b9ad3a53ee8fa4f1fd9ed2a3130f6490c38ca80fb02719
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size 22543
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info.json
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{
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"source_rosbags": [
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"Task_1_CycloIntelligence1_MCAP"
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],
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"conversion_config": {
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"robot_type": "ffw_sg2_rev1",
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"task_name": "CycloIntelligence Task Instruction",
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"fps": 15,
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"camera_rotations": {
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"cam_left_wrist": 270,
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"cam_right_wrist": 270
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},
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"selected_end_effector_topics": [],
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"selected_cameras": [
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"cam_left_head",
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"cam_right_head",
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"cam_left_wrist",
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"cam_right_wrist"
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],
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"output_dataset_name": "Task_1_CycloIntelligence1_MCAP_lerobot_v21",
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"image_resize": null,
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"selected_joint_state_topics": [
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"upper_body",
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"mobile"
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],
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"primitive_instructions": [],
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"selected_action_topics": [
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"arm_left",
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"arm_right",
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"head",
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"lift",
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"mobile"
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]
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}
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}
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["CycloIntelligence Task Instruction"], "length": 161}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"observation.state": {"mean": [0.13751596212387085, 0.020521536469459534, 0.10708459466695786, -0.3121391534805298, 0.13961395621299744, -0.38881468772888184, 0.005465569440275431, 0.06135932356119156, 0.12478737533092499, -0.07902534306049347, 0.18867754936218262, -0.29657405614852905, -0.271152526140213, -0.27772197127342224, -0.07690248638391495, 0.05829135328531265, -2.858349216694478e-05, -2.0694557179012918e-13, 0.0, 2.361073484280496e-06, 2.589870007341233e-08, 4.948799414705718e-06], "std": [0.04094048589468002, 0.016333186998963356, 0.0019688818138092756, 0.03150835633277893, 0.04039478674530983, 0.058421142399311066, 0.0014628057833760977, 0.0010000000474974513, 0.058136235922575, 0.004836256615817547, 0.0019582982640713453, 0.017613139003515244, 0.04147368296980858, 0.10170630365610123, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 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meta/info.json
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{
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"codebase_version": "v2.1",
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| 3 |
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"robot_type": "ffw_sg2_rev1",
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| 4 |
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"total_episodes": 1,
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| 5 |
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"total_frames": 161,
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| 6 |
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"total_tasks": 1,
|
| 7 |
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"total_videos": 4,
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| 8 |
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"total_chunks": 1,
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| 9 |
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"chunks_size": 10000,
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| 10 |
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"fps": 15,
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| 11 |
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"splits": {
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"train": "0:1"
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},
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| 14 |
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"data_path": "data/task-{episode_chunk:04d}/episode_{episode_index:08d}.parquet",
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| 15 |
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"video_path": "videos/task-{episode_chunk:04d}/{video_key}/episode_{episode_index:08d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"observation.state": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"shape": [
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| 20 |
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22
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],
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"names": [
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"arm_l_joint1",
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| 24 |
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"arm_l_joint2",
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| 25 |
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"arm_l_joint3",
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| 26 |
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"arm_l_joint4",
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| 27 |
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"arm_l_joint5",
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| 28 |
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"arm_l_joint6",
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| 29 |
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"arm_l_joint7",
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| 30 |
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"gripper_l_joint1",
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| 31 |
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"arm_r_joint1",
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