Upload 13 files
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +86 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_zed_left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_zed_left/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.cam_zed_left/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.cam_zed_right/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_zed_right/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.cam_zed_right/episode_000002.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3f69e25428a7754242b00268a8db352d0942a21520cdf72dfe1d87f218c4279e
|
| 3 |
+
size 3051
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8da5cd8a40407f35fc129153080cf931796228dfd8a984c52736b41043bf684d
|
| 3 |
+
size 4286
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:01313111a2de47eaf660b54108a47d8f42a04847835b26993224a684b64bd759
|
| 3 |
+
size 2283
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index":0,"tasks":["test_five"],"length":19}
|
| 2 |
+
{"episode_index":1,"tasks":["test_five"],"length":57}
|
| 3 |
+
{"episode_index":2,"tasks":["test_five"],"length":2}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index":0,"stats":{"observation.images.cam_zed_left":{"min":[[[0.0]],[[0.0]],[[0.0]]],"max":[[[1.0]],[[1.0]],[[1.0]]],"mean":[[[0.39187667]],[[0.3946072]],[[0.40233427]]],"std":[[[0.29616767]],[[0.2998669]],[[0.2867716]]],"count":[5836800]},"observation.images.cam_zed_right":{"min":[[[0.0]],[[0.0]],[[0.0]]],"max":[[[1.0]],[[1.0]],[[1.0]]],"mean":[[[0.39609087]],[[0.39770412]],[[0.4070841]]],"std":[[[0.2996469]],[[0.30289704]],[[0.29017574]]],"count":[5836800]},"observation.state":{"min":[0.46684998,0.37493068,-0.1576109,0.31005144,0.08716918,-0.4165144,-0.05362338,0.41587067,-0.39597988,0.34103918,0.24847984,-0.24229312,-0.4527787,-0.09181738],"max":[0.46688408,0.37496477,1.4E-45,0.3100686,0.08719315,1.4E-45,1.4E-45,0.41588783,1.4E-45,0.34107935,0.24849701,1.4E-45,1.4E-45,1.4E-45],"mean":[0.46686435,0.3749424,-0.15757287,0.31006047,0.08717865,-0.4164962,-0.053608876,0.41588014,-0.39595786,0.341061,0.24848527,-0.24227351,-0.45276362,-0.09179535],"std":[2.1143198E-4,"NaN",6.1035156E-5,"NaN","NaN","NaN",0.0,"NaN",0.0,2.1143198E-4,0.0,1.6148384E-4,"NaN",0.0],"count":[19]},"action":{"min":[0.48363003,0.41325033,-0.13055179,0.26124704,0.061383203,-0.4625,-0.024652705,0.4193625,-0.43766266,0.33118573,0.20336536,-0.25313526,-0.4625,-0.10341857],"max":[0.48363003,0.41325033,1.4E-45,0.26124704,0.061383203,1.4E-45,1.4E-45,0.4193625,1.4E-45,0.33118573,0.20336536,1.4E-45,1.4E-45,1.4E-45],"mean":[0.4836301,0.41325042,-0.1305518,0.2612471,0.0613832,-0.4625,-0.02465271,0.41936252,-0.43766263,0.33118576,0.20336534,-0.25313523,-0.4625,-0.10341858],"std":["NaN","NaN","NaN","NaN",1.5258789E-5,0.0,"NaN",0.0,1.2207031E-4,"NaN",6.1035156E-5,1.2207031E-4,0.0,"NaN"],"count":[19]},"episode_index":{"min":[0],"max":[0],"mean":[0.0],"std":[0.0],"count":[19]},"frame_index":{"min":[0],"max":[18],"mean":[9.0],"std":[5.477226],"count":[19]},"timestamp":{"min":[0.066667],"max":[1.266667],"mean":[0.6666667],"std":[0.36514837],"count":[19]},"next.done":{"min":[false],"max":[false],"mean":[0.0],"std":[0.0],"count":[19]},"index":{"min":[0],"max":[18],"mean":[9.0],"std":[5.477226],"count":[19]},"task_index":{"min":[0],"max":[0],"mean":[0.0],"std":[0.0],"count":[19]}}}
|
| 2 |
+
{"episode_index":1,"stats":{"observation.images.cam_zed_left":{"min":[[[0.0]],[[0.0]],[[0.0]]],"max":[[[1.0]],[[1.0]],[[1.0]]],"mean":[[[0.36896625]],[[0.36928272]],[[0.37580758]]],"std":[[[0.30891842]],[[0.31345686]],[[0.29955676]]],"count":[17510400]},"observation.images.cam_zed_right":{"min":[[[0.0]],[[0.0]],[[0.0]]],"max":[[[1.0]],[[1.0]],[[1.0]]],"mean":[[[0.3512016]],[[0.3508591]],[[0.36066264]]],"std":[[[0.30386692]],[[0.3083008]],[[0.29290095]]],"count":[17510400]},"observation.state":{"min":[0.011530459,0.19514817,-0.27437496,1.3436222,5.232319E-4,0.002621889,-0.004308343,0.008112907,-0.19635785,0.27574033,1.3416967,-0.0010385513,0.0011837482,0.003241539],"max":[0.011564553,0.19519073,1.4E-45,1.3436561,5.4720044E-4,0.0026578903,1.4E-45,0.008130074,1.4E-45,0.27580726,1.3417306,1.4E-45,0.0013155937,0.0032896996],"mean":[0.01154616,0.19516464,-0.27433634,1.3436432,5.3500594E-4,0.002639206,-0.004260333,0.008118629,-0.19633296,0.2757705,1.3417152,-0.001002479,0.0012533205,0.0032645527],"std":[7.6293945E-6,"NaN",3.2296768E-4,"NaN",1.1770974E-5,1.1060155E-5,1.4588411E-5,7.1366453E-6,6.1035156E-5,"NaN",7.7204045E-4,2.6581265E-5,2.4010538E-5,9.246216E-6],"count":[57]},"action":{"min":[-0.2162096,0.271705,-0.10633349,0.46118072,0.06664974,-0.4625,-0.040147495,-0.338926,0.08084648,-0.02237993,0.57546926,0.23541607,-0.4625,0.23372732],"max":[1.4E-45,0.271705,1.4E-45,0.46118072,0.06664974,1.4E-45,1.4E-45,1.4E-45,0.08084648,1.4E-45,0.57546926,0.23541607,1.4E-45,0.23372732],"mean":[-0.2162095,0.27170488,-0.106333405,0.46118107,0.06664973,-0.46249974,-0.040147517,-0.33892614,0.08084647,-0.022379922,0.5754695,0.23541617,-0.46249974,0.2337274],"std":[1.6148384E-4,3.1121945E-4,1.49505E-4,"NaN",0.0,5.1790045E-4,"NaN","NaN",5.7093162E-5,2.2888184E-5,"NaN","NaN",5.1790045E-4,"NaN"],"count":[57]},"episode_index":{"min":[1],"max":[1],"mean":[1.0],"std":[0.0],"count":[57]},"frame_index":{"min":[0],"max":[56],"mean":[28.0],"std":[16.451948],"count":[57]},"timestamp":{"min":[0.066667],"max":[3.8],"mean":[1.9333333],"std":[1.096797],"count":[57]},"next.done":{"min":[false],"max":[false],"mean":[0.0],"std":[0.0],"count":[57]},"index":{"min":[19],"max":[75],"mean":[47.0],"std":[16.451952],"count":[57]},"task_index":{"min":[0],"max":[0],"mean":[0.0],"std":[0.0],"count":[57]}}}
|
| 3 |
+
{"episode_index":2,"stats":{"observation.images.cam_zed_left":{"min":[[[0.0]],[[0.0]],[[0.0]]],"max":[[[1.0]],[[1.0]],[[1.0]]],"mean":[[[0.47966972]],[[0.4803329]],[[0.4756173]]],"std":[[[0.33695805]],[[0.33811757]],[[0.3332419]]],"count":[614400]},"observation.images.cam_zed_right":{"min":[[[0.0]],[[0.0]],[[0.0]]],"max":[[[1.0]],[[1.0]],[[1.0]]],"mean":[[[0.48517886]],[[0.48583245]],[[0.48233783]]],"std":[[[0.3294204]],[[0.3306623]],[[0.32608518]]],"count":[614400]},"observation.state":{"min":["NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN"],"max":["NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN"],"mean":["NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN"],"std":["NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN"],"count":[2]},"action":{"min":["NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN"],"max":["NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN"],"mean":["NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN"],"std":["NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN","NaN"],"count":[2]},"episode_index":{"min":[2],"max":[2],"mean":[2.0],"std":[0.0],"count":[2]},"frame_index":{"min":[0],"max":[1],"mean":[0.5],"std":[0.5],"count":[2]},"timestamp":{"min":[0.066667],"max":[0.133333],"mean":[0.099999994],"std":[0.03333302],"count":[2]},"next.done":{"min":[false],"max":[false],"mean":[0.0],"std":[0.0],"count":[2]},"index":{"min":[76],"max":[77],"mean":[76.5],"std":[0.5],"count":[2]},"task_index":{"min":[0],"max":[0],"mean":[0.0],"std":[0.0],"count":[2]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,86 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version" : "v2.1",
|
| 3 |
+
"robot_type" : "nadia",
|
| 4 |
+
"total_episodes" : 3,
|
| 5 |
+
"total_frames" : 78,
|
| 6 |
+
"total_tasks" : 1,
|
| 7 |
+
"total_videos" : 6,
|
| 8 |
+
"total_chunks" : 1,
|
| 9 |
+
"chunks_size" : 1000,
|
| 10 |
+
"fps" : 0.0,
|
| 11 |
+
"splits" : {
|
| 12 |
+
"train" : "0:3"
|
| 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 |
+
"observation.images.cam_zed_left" : {
|
| 18 |
+
"dtype" : "video",
|
| 19 |
+
"shape" : [ 480, 640, 3 ],
|
| 20 |
+
"names" : [ "height", "width", "channel" ],
|
| 21 |
+
"video_info" : {
|
| 22 |
+
"video.fps" : 0.0,
|
| 23 |
+
"video.codec" : "mpeg4",
|
| 24 |
+
"video.pix_fmt" : "yuv420p",
|
| 25 |
+
"video.is_depth_map" : false,
|
| 26 |
+
"has_audio" : false
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
+
"observation.images.cam_zed_right" : {
|
| 30 |
+
"dtype" : "video",
|
| 31 |
+
"shape" : [ 480, 640, 3 ],
|
| 32 |
+
"names" : [ "height", "width", "channel" ],
|
| 33 |
+
"video_info" : {
|
| 34 |
+
"video.fps" : 0.0,
|
| 35 |
+
"video.codec" : "mpeg4",
|
| 36 |
+
"video.pix_fmt" : "yuv420p",
|
| 37 |
+
"video.is_depth_map" : false,
|
| 38 |
+
"has_audio" : false
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"observation.state" : {
|
| 42 |
+
"dtype" : "float32",
|
| 43 |
+
"shape" : [ 14 ],
|
| 44 |
+
"names" : {
|
| 45 |
+
"motors" : [ "left_gripper_x", "left_gripper_y", "left_gripper_z", "left_gripper_qx", "left_gripper_qy", "left_gripper_qz", "left_gripper_qs", "right_gripper_x", "right_gripper_y", "right_gripper_z", "right_gripper_qx", "right_gripper_qy", "right_gripper_qz", "right_gripper_qs" ]
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
"action" : {
|
| 49 |
+
"dtype" : "float32",
|
| 50 |
+
"shape" : [ 14 ],
|
| 51 |
+
"names" : {
|
| 52 |
+
"motors" : [ "left_gripper_x", "left_gripper_y", "left_gripper_z", "left_gripper_qx", "left_gripper_qy", "left_gripper_qz", "left_gripper_qs", "right_gripper_x", "right_gripper_y", "right_gripper_z", "right_gripper_qx", "right_gripper_qy", "right_gripper_qz", "right_gripper_qs" ]
|
| 53 |
+
}
|
| 54 |
+
},
|
| 55 |
+
"episode_index" : {
|
| 56 |
+
"dtype" : "int64",
|
| 57 |
+
"shape" : [ 1 ],
|
| 58 |
+
"names" : null
|
| 59 |
+
},
|
| 60 |
+
"frame_index" : {
|
| 61 |
+
"dtype" : "int64",
|
| 62 |
+
"shape" : [ 1 ],
|
| 63 |
+
"names" : null
|
| 64 |
+
},
|
| 65 |
+
"timestamp" : {
|
| 66 |
+
"dtype" : "float32",
|
| 67 |
+
"shape" : [ 1 ],
|
| 68 |
+
"names" : null
|
| 69 |
+
},
|
| 70 |
+
"next.done" : {
|
| 71 |
+
"dtype" : "bool",
|
| 72 |
+
"shape" : [ 1 ],
|
| 73 |
+
"names" : null
|
| 74 |
+
},
|
| 75 |
+
"index" : {
|
| 76 |
+
"dtype" : "int64",
|
| 77 |
+
"shape" : [ 1 ],
|
| 78 |
+
"names" : null
|
| 79 |
+
},
|
| 80 |
+
"task_index" : {
|
| 81 |
+
"dtype" : "int64",
|
| 82 |
+
"shape" : [ 1 ],
|
| 83 |
+
"names" : null
|
| 84 |
+
}
|
| 85 |
+
}
|
| 86 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index":0,"task":"test_five"}
|
videos/chunk-000/observation.images.cam_zed_left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:320fc25a42f07f4f70ff50aecca65c380f6618bfdcd8e95ff04469d6221e0d1e
|
| 3 |
+
size 60309
|
videos/chunk-000/observation.images.cam_zed_left/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7603c5924f3c20fd41d462ceccde0d9bd27f78aad1904781cfaf56cc900f725f
|
| 3 |
+
size 148276
|
videos/chunk-000/observation.images.cam_zed_left/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3a66b9a53bec93f5740f68a51f08c71523261f441340577422969454e37676ed
|
| 3 |
+
size 40466
|
videos/chunk-000/observation.images.cam_zed_right/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:efd788f40cb45d965ebecafb89469739309a10ab06be721717d0de910adfafb1
|
| 3 |
+
size 58740
|
videos/chunk-000/observation.images.cam_zed_right/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e1a2b138f028e955e03c5b0868978a42ee0d1f837161e2a0dba04b241bf31f2e
|
| 3 |
+
size 144943
|
videos/chunk-000/observation.images.cam_zed_right/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:33c755be98bb6f6150885e84450c07ac9b8737c20ad131983ef4a1ae9ab1fa46
|
| 3 |
+
size 40442
|