Dongkkka commited on
Commit
63488fd
·
verified ·
1 Parent(s): d67fb3e

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:63443d4a0b24b16c03e9e0d4adefd25717641b1600ed92f937b099fc39c2b206
3
+ size 229722
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["default_task"], "length": 1579}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"mean": [0.3653658628463745, 0.2434525191783905, -0.18036630749702454, -1.8299323320388794, 0.11038973182439804, 0.03518298640847206, 0.09474743902683258, 0.3167281150817871, 0.40701842308044434, -0.027044005692005157, -0.02733575366437435, -1.7985491752624512, -0.11287613213062286, -0.04490574076771736, 0.2134532630443573, 0.3524313271045685, 0.6933593153953552, 0.03425084054470062, -0.0032469246070832014, 2.7357065945921022e-08, 8.05280198079572e-09, 1.651411480452225e-06], "std": [0.17169445753097534, 0.04831654950976372, 0.21606938540935516, 0.30421391129493713, 0.2736823558807373, 0.375191330909729, 0.3062393367290497, 0.3568180203437805, 0.24185813963413239, 0.03030811995267868, 0.19866780936717987, 0.23072947561740875, 0.09511689096689224, 0.3299837112426758, 0.28029507398605347, 0.39025354385375977, 0.0, 0.0007304885075427592, 0.0004745744518004358, 0.00032654133974574506, 2.5586195988580585e-06, 0.000519213848747313], "min": [-0.12237092107534409, 0.11063836514949799, -0.6013084650039673, -2.3071789741516113, -0.7612020373344421, -0.7225648760795593, -0.8605636954307556, 0.02147573046386242, -0.40592965483665466, -0.13336046040058136, -0.5692746639251709, -2.2954463958740234, -0.46394529938697815, -0.48965147137641907, -0.19055375456809998, 0.04448544234037399, 0.6933593153953552, 0.03374757617712021, -0.004100000020116568, -0.0020158549305051565, -1.4760440535610542e-05, -0.0030362633988261223], "max": [0.6601030826568604, 0.32697758078575134, 0.36741235852241516, -0.9200289249420166, 0.5509028434753418, 0.924918532371521, 0.29609057307243347, 1.1259418725967407, 0.6824057102203369, 3.5952674807049334e-05, 0.3687306344509125, -1.0464025735855103, 0.025981798768043518, 1.211221694946289, 1.1505210399627686, 1.1244078874588013, 0.6933593153953552, 0.03681553900241852, -0.002409999957308173, 0.0018574657151475549, 1.4030317288415972e-05, 0.0026163046713918447], "count": [1579]}, "action": {"mean": [0.36333197355270386, 0.24321947991847992, -0.17902569472789764, -1.8287169933319092, 0.10940329730510712, -0.2614140510559082, 0.09307020902633667, 0.36990439891815186, 0.40651148557662964, -0.014913305640220642, -0.027255065739154816, -1.7968403100967407, -0.11324356496334076, -0.34606555104255676, 0.21365343034267426, 0.4588533341884613, NaN, NaN, NaN, 0.0, 0.0, 0.0], "std": [0.17273196578025818, 0.04871693253517151, 0.21861205995082855, 0.3048553168773651, 0.2744942605495453, 0.37935033440589905, 0.3076270520687103, 0.6521028876304626, 0.24207772314548492, 0.04709455743432045, 0.1990671306848526, 0.23063167929649353, 0.0955762192606926, 0.33169737458229065, 0.28036415576934814, 0.7793673276901245, NaN, NaN, NaN, 0.0, 0.0, 0.0], "min": [-0.12425244599580765, 0.11044661700725555, -0.6013204455375671, -2.31170916557312, -0.7623884677886963, -1.0277671813964844, -0.8620972037315369, -0.14511458575725555, -0.40650489926338196, -0.13345633447170258, -0.5737088322639465, -2.300971269607544, -0.47093209624290466, -0.7915340662002563, -0.1902136206626892, -0.19573594629764557, NaN, NaN, NaN, 0.0, -0.0, -0.0], "max": [0.6611457467079163, 0.3298058807849884, 0.3742913007736206, -0.9173204898834229, 0.552233099937439, 0.7025632262229919, 0.2960582971572876, 1.7919963598251343, 0.6826214790344238, 0.1227184608578682, 0.36968937516212463, -1.0446408987045288, 0.02761165425181389, 0.9173204898834229, 1.150485634803772, 2.1665945053100586, NaN, NaN, NaN, 0.0, -0.0, -0.0], "count": [1579]}, "observation.images.cam_left_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40717750787734985]], [[0.41411322355270386]], [[0.3938688337802887]]], "std": [[[0.23089875280857086]], [[0.23876217007637024]], [[0.23630063235759735]]], "count": [100]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42392611503601074]], [[0.42960044741630554]], [[0.4102812707424164]]], "std": [[[0.24804608523845673]], [[0.23965492844581604]], [[0.2526605725288391]]], "count": [100]}, "observation.images.cam_right_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41666752099990845]], [[0.4248148500919342]], [[0.40470290184020996]]], "std": [[[0.22769711911678314]], [[0.23717990517616272]], [[0.2346239984035492]]], "count": [100]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4282427132129669]], [[0.4372600317001343]], [[0.41202250123023987]]], "std": [[[0.24618223309516907]], [[0.2304287999868393]], [[0.23052531480789185]]], "count": [100]}}}
meta/info.json ADDED
@@ -0,0 +1,165 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "ffw_sg2_rev1",
4
+ "total_episodes": 1,
5
+ "total_frames": 1579,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
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
+ "timestamp": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 1
21
+ ],
22
+ "names": null
23
+ },
24
+ "frame_index": {
25
+ "dtype": "int64",
26
+ "shape": [
27
+ 1
28
+ ],
29
+ "names": null
30
+ },
31
+ "episode_index": {
32
+ "dtype": "int64",
33
+ "shape": [
34
+ 1
35
+ ],
36
+ "names": null
37
+ },
38
+ "index": {
39
+ "dtype": "int64",
40
+ "shape": [
41
+ 1
42
+ ],
43
+ "names": null
44
+ },
45
+ "task_index": {
46
+ "dtype": "int64",
47
+ "shape": [
48
+ 1
49
+ ],
50
+ "names": null
51
+ },
52
+ "observation.state": {
53
+ "dtype": "float32",
54
+ "shape": [
55
+ 22
56
+ ],
57
+ "names": [
58
+ "arm_l_joint1",
59
+ "arm_l_joint2",
60
+ "arm_l_joint3",
61
+ "arm_l_joint4",
62
+ "arm_l_joint5",
63
+ "arm_l_joint6",
64
+ "arm_l_joint7",
65
+ "gripper_l_joint1",
66
+ "arm_r_joint1",
67
+ "arm_r_joint2",
68
+ "arm_r_joint3",
69
+ "arm_r_joint4",
70
+ "arm_r_joint5",
71
+ "arm_r_joint6",
72
+ "arm_r_joint7",
73
+ "gripper_r_joint1",
74
+ "head_joint1",
75
+ "head_joint2",
76
+ "lift_joint",
77
+ "linear_x",
78
+ "linear_y",
79
+ "angular_z"
80
+ ]
81
+ },
82
+ "action": {
83
+ "dtype": "float32",
84
+ "shape": [
85
+ 22
86
+ ],
87
+ "names": [
88
+ "arm_l_joint1",
89
+ "arm_l_joint2",
90
+ "arm_l_joint3",
91
+ "arm_l_joint4",
92
+ "arm_l_joint5",
93
+ "arm_l_joint6",
94
+ "arm_l_joint7",
95
+ "gripper_l_joint1",
96
+ "arm_r_joint1",
97
+ "arm_r_joint2",
98
+ "arm_r_joint3",
99
+ "arm_r_joint4",
100
+ "arm_r_joint5",
101
+ "arm_r_joint6",
102
+ "arm_r_joint7",
103
+ "gripper_r_joint1",
104
+ "head_joint1",
105
+ "head_joint2",
106
+ "lift_joint",
107
+ "linear_x",
108
+ "linear_y",
109
+ "angular_z"
110
+ ]
111
+ },
112
+ "observation.images.cam_left_head": {
113
+ "dtype": "video",
114
+ "shape": [
115
+ 720,
116
+ 1280,
117
+ 3
118
+ ],
119
+ "names": [
120
+ "height",
121
+ "width",
122
+ "channels"
123
+ ]
124
+ },
125
+ "observation.images.cam_left_wrist": {
126
+ "dtype": "video",
127
+ "shape": [
128
+ 480,
129
+ 640,
130
+ 3
131
+ ],
132
+ "names": [
133
+ "height",
134
+ "width",
135
+ "channels"
136
+ ]
137
+ },
138
+ "observation.images.cam_right_head": {
139
+ "dtype": "video",
140
+ "shape": [
141
+ 720,
142
+ 1280,
143
+ 3
144
+ ],
145
+ "names": [
146
+ "height",
147
+ "width",
148
+ "channels"
149
+ ]
150
+ },
151
+ "observation.images.cam_right_wrist": {
152
+ "dtype": "video",
153
+ "shape": [
154
+ 480,
155
+ 640,
156
+ 3
157
+ ],
158
+ "names": [
159
+ "height",
160
+ "width",
161
+ "channels"
162
+ ]
163
+ }
164
+ }
165
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "default_task"}
videos/chunk-000/observation.images.cam_left_head/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f9236d4938a93995d0efdd448d1f289de362a39ac7ca91c69e201ee8464cf843
3
+ size 14670273
videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:11d4c6c7104ce0f78792731f01553f49b7efa3aaf6e6de91bd567a600d6bc597
3
+ size 9462277
videos/chunk-000/observation.images.cam_right_head/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:982337a1346f84eec6fb37a66771d6e73190388181fdf48301ac105ae3af944c
3
+ size 14180851
videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aa5a2122f0963ca5484fda84d6cf11bfeb108bd730cc0f0da6fe0625499d6ffa
3
+ size 9461537