Hugging Face's logo

Datasets:
LSY-lab
/
drawer_without_target_v1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
danielsanjosepro commited on
Commit
75b00b4
·
verified ·
1 Parent(s): 6dee2d6

Upload folder using huggingface_hub

Browse files
Files changed (12) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. meta/episodes.jsonl +2 -0
  4. meta/episodes_stats.jsonl +2 -0
  5. meta/info.json +276 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.primary/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.primary/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.tactile/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.tactile/episode_000001.mp4 +3 -0
  11. videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
  12. videos/chunk-000/observation.images.wrist/episode_000001.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:c746f4111a95ebceb402666d5ba137c28e2c11b9534c843813ca0ca2c47f5fe8
3
+ size 153210
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:530a4db6471e1cae92d96348e8b7a41d6b83febc955b379ec33b93256e3f600c
3
+ size 7310
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["pick the lego block."], "length": 344}
2
+ {"episode_index": 1, "tasks": ["pick the lego block."], "length": 1}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"observation.images.primary": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.4203293373257506]], [[0.5434152772192862]], [[0.44005745741900276]]], "std": [[[0.26872220596361057]], [[0.19301626916810644]], [[0.2364552948037907]]], "count": [100]}, "observation.images.tactile": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.9145894260780484]], [[0.9064896922392004]], [[0.9032057315602022]]], "std": [[[0.04066265503813905]], [[0.09490350221204323]], [[0.10359032172671467]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3395250920314415]], [[0.4486514048856847]], [[0.3733317541982613]]], "std": [[[0.2853451021843485]], [[0.2038316797017588]], [[0.23079515274783022]]], "count": [100]}, "observation.state.cartesian": {"min": [0.4189988374710083, -0.2839204668998718, 0.054011229425668716, -3.136991500854492, -1.1424839496612549, -0.7000126838684082], "max": [0.589561939239502, 0.07909093797206879, 0.3487154245376587, 3.1375184059143066, 1.3130550384521484, 0.3610410988330841], "mean": [0.5109434723854065, -0.12657928466796875, 0.18857382237911224, -0.01292987447232008, 0.20972251892089844, -0.14512009918689728], "std": [0.05326161906123161, 0.1361210197210312, 0.08879369497299194, 2.935530662536621, 0.8292235732078552, 0.294216513633728], "count": [344]}, "observation.state.gripper": {"min": [0.04219823330640793], "max": [0.45632973313331604], "mean": [0.21341317892074585], "std": [0.13702170550823212], "count": [344]}, "observation.state.joints": {"min": [-0.33630529046058655, -0.08281726390123367, -0.23653115332126617, -2.208906888961792, -0.4157102704048157, 1.946848750114441, -0.518055260181427], "max": [0.040272943675518036, 0.5343047380447388, 0.08774510771036148, -1.9427043199539185, 0.004584525711834431, 2.7299578189849854, 0.8447357416152954], "mean": [-0.15718024969100952, 0.24147982895374298, -0.06420736759901047, -2.131685256958008, -0.12653574347496033, 2.2893261909484863, 0.1664334386587143], "std": [0.144100159406662, 0.18447820842266083, 0.10375846922397614, 0.05458516255021095, 0.1665249913930893, 0.2472207099199295, 0.49476122856140137], "count": [344]}, "observation.state.sensors_ft_sensor": {"min": [-9.648700714111328, -9.040297508239746, -2.3814730644226074, -1.7134815454483032, -0.5256404280662537, -0.5295261740684509], "max": [1.2179338932037354, 1.071699857711792, 6.07527494430542, 0.9159665703773499, 1.61660897731781, 0.2918401062488556], "mean": [-2.2565674781799316, -2.349222183227539, 0.7223103046417236, -0.3377944827079773, 0.497723788022995, -0.013564536347985268], "std": [2.0042684078216553, 1.8246731758117676, 1.7623878717422485, 0.6768654584884644, 0.43830323219299316, 0.2016378939151764], "count": [344]}, "observation.state.sensors_tactile_sensor": {"min": [-4.904998779296875, -118.83000946044922, 2.124133825302124, -1.2900390625, -79.77005004882812, 2.3442656993865967, -2.68499755859375, -160.93499755859375, 3.3730697631835938, -2.039997100830078, -126.3600082397461, 2.002391815185547, -4.5149993896484375, -140.05496215820312, 2.50238037109375], "max": [455.2950134277344, 293.3700256347656, 531.0817260742188, 717.9600219726562, 727.3800048828125, 1062.60693359375, 370.8150329589844, 39.165008544921875, 427.7986145019531, 894.0599975585938, 297.84002685546875, 942.0147094726562, 221.08499145507812, 408.3450622558594, 475.104248046875], "mean": [183.2203826904297, 85.22579956054688, 215.5363311767578, 273.79156494140625, 256.4121398925781, 403.9493408203125, 161.289794921875, -45.352561950683594, 188.9564971923828, 359.5981140136719, 99.19461059570312, 383.3889465332031, 97.4916000366211, 107.7978286743164, 176.19651794433594], "std": [133.22108459472656, 109.19463348388672, 155.46490478515625, 223.89109802246094, 249.0679473876953, 341.77020263671875, 98.39933013916016, 49.21719741821289, 113.6032485961914, 271.8883972167969, 117.81401062011719, 285.52392578125, 61.89625930786133, 140.39590454101562, 127.42389678955078], "count": [344]}, "observation.state": {"min": [0.4189988374710083, -0.2839204668998718, 0.054011229425668716, -3.136991500854492, -1.1424839496612549, -0.7000126838684082, 0.04219823330640793, -0.33630529046058655, -0.08281726390123367, -0.23653115332126617, -2.208906888961792, -0.4157102704048157, 1.946848750114441, -0.518055260181427, -4.904998779296875, -118.83000946044922, 2.124133825302124, -1.2900390625, -79.77005004882812, 2.3442656993865967, -2.68499755859375, -160.93499755859375, 3.3730697631835938, -2.039997100830078, -126.3600082397461, 2.002391815185547, -4.5149993896484375, -140.05496215820312, 2.50238037109375, -9.648700714111328, -9.040297508239746, -2.3814730644226074, -1.7134815454483032, -0.5256404280662537, -0.5295261740684509], "max": [0.589561939239502, 0.07909093797206879, 0.3487154245376587, 3.1375184059143066, 1.3130550384521484, 0.3610410988330841, 0.45632973313331604, 0.040272943675518036, 0.5343047380447388, 0.08774510771036148, -1.9427043199539185, 0.004584525711834431, 2.7299578189849854, 0.8447357416152954, 455.2950134277344, 293.3700256347656, 531.0817260742188, 717.9600219726562, 727.3800048828125, 1062.60693359375, 370.8150329589844, 39.165008544921875, 427.7986145019531, 894.0599975585938, 297.84002685546875, 942.0147094726562, 221.08499145507812, 408.3450622558594, 475.104248046875, 1.2179338932037354, 1.071699857711792, 6.07527494430542, 0.9159665703773499, 1.61660897731781, 0.2918401062488556], "mean": [0.5109434723854065, -0.12657928466796875, 0.18857382237911224, -0.01292987447232008, 0.20972251892089844, -0.14512009918689728, 0.21341338753700256, -0.15718024969100952, 0.24147982895374298, -0.06420736759901047, -2.131685256958008, -0.12653574347496033, 2.2893261909484863, 0.1664334386587143, 183.2203826904297, 85.22579956054688, 215.5363311767578, 273.79156494140625, 256.4121398925781, 403.9493408203125, 161.289794921875, -45.352561950683594, 188.9564971923828, 359.5981140136719, 99.19461059570312, 383.3889465332031, 97.4916000366211, 107.7978286743164, 176.19651794433594, -2.2565674781799316, -2.349222183227539, 0.7223103046417236, -0.3377944827079773, 0.497723788022995, -0.013564536347985268], "std": [0.05326161906123161, 0.1361210197210312, 0.08879369497299194, 2.935530662536621, 0.8292235732078552, 0.294216513633728, 0.13702167570590973, 0.144100159406662, 0.18447820842266083, 0.10375846922397614, 0.05458516255021095, 0.1665249913930893, 0.2472207099199295, 0.49476122856140137, 133.22108459472656, 109.19463348388672, 155.46490478515625, 223.89109802246094, 249.0679473876953, 341.77020263671875, 98.39933013916016, 49.21719741821289, 113.6032485961914, 271.8883972167969, 117.81401062011719, 285.52392578125, 61.89625930786133, 140.39590454101562, 127.42389678955078, 2.0042684078216553, 1.8246731758117676, 1.7623878717422485, 0.6768654584884644, 0.43830323219299316, 0.2016378939151764], "count": [344]}, "action": {"min": [-0.011310170404613018, -0.02455233782529831, -0.019832419231534004, -0.050699736922979355, -0.06716982275247574, -0.10789454728364944, -0.5658876895904541], "max": [0.009023920632898808, 0.02270229160785675, 0.017606377601623535, 0.06640931218862534, 0.05893604829907417, 0.09976762533187866, 0.21636797487735748], "mean": [-0.0002710210101213306, -0.00018358505622018129, -1.8212936993222684e-05, 5.667987352353521e-05, -0.0003517106524668634, -9.342611883766949e-05, -0.12459979206323624], "std": [0.0036967608612030745, 0.006707805208861828, 0.00686447462067008, 0.010726537555456161, 0.014512257650494576, 0.024583717808127403, 0.22868436574935913], "count": [344]}, "timestamp": {"min": [0.0], "max": [22.866666666666667], "mean": [11.433333333333334], "std": [6.62025511425185], "count": [344]}, "frame_index": {"min": [0], "max": [343], "mean": [171.5], "std": [99.30382671377775], "count": [344]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [344]}, "index": {"min": [0], "max": [343], "mean": [171.5], "std": [99.30382671377775], "count": [344]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [344]}}}
2
+ {"episode_index": 1, "stats": {"observation.images.primary": {"min": [[[0.0]], [[0.0392156862745098]], [[0.0]]], "max": [[[0.9490196078431372]], [[1.0]], [[0.9803921568627451]]], "mean": [[[0.43448205087699143]], [[0.5549677231732537]], [[0.45143199247472426]]], "std": [[[0.2621626629308061]], [[0.17879296631825248]], [[0.23355036524456377]]], "count": [1]}, "observation.images.tactile": {"min": [[[0.34901960784313724]], [[0.7098039215686275]], [[0.3568627450980392]]], "max": [[[0.9294117647058824]], [[1.0]], [[0.9333333333333333]]], "mean": [[[0.9173799402573529]], [[0.917629825367647]], [[0.9173540900735294]]], "std": [[[0.009064433700421627]], [[0.00288798725432161]], [[0.009221307769089963]]], "count": [1]}, "observation.images.wrist": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31486714680989586]], [[0.4877908744064032]], [[0.38915848077512255]]], "std": [[[0.33101153420321183]], [[0.23301789567030992]], [[0.26165321153664217]]], "count": [1]}, "observation.state.cartesian": {"min": [0.58478844165802, -0.013780768029391766, 0.33199813961982727, 3.1310737133026123, -0.03399142250418663, 0.037803638726472855], "max": [0.58478844165802, -0.013780768029391766, 0.33199813961982727, 3.1310737133026123, -0.03399142250418663, 0.037803638726472855], "mean": [0.58478844165802, -0.013780768029391766, 0.33199813961982727, 3.1310737133026123, -0.03399142250418663, 0.037803638726472855], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1]}, "observation.state.gripper": {"min": [0.04514229670166969], "max": [0.04514229670166969], "mean": [0.04514229670166969], "std": [0.0], "count": [1]}, "observation.state.joints": {"min": [-0.019306229427456856, 0.09451697766780853, -0.001546067651361227, -1.94431734085083, -0.011026307009160519, 2.063051462173462, 0.7913565039634705], "max": [-0.019306229427456856, 0.09451697766780853, -0.001546067651361227, -1.94431734085083, -0.011026307009160519, 2.063051462173462, 0.7913565039634705], "mean": [-0.019306229427456856, 0.09451697766780853, -0.001546067651361227, -1.94431734085083, -0.011026307009160519, 2.063051462173462, 0.7913565039634705], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1]}, "observation.state.sensors_ft_sensor": {"min": [1.7223169803619385, -0.6066210269927979, -0.7295841574668884, 0.2526821494102478, -0.42813706398010254, 0.05151882395148277], "max": [1.7223169803619385, -0.6066210269927979, -0.7295841574668884, 0.2526821494102478, -0.42813706398010254, 0.05151882395148277], "mean": [1.7223169803619385, -0.6066210269927979, -0.7295841574668884, 0.2526821494102478, -0.42813706398010254, 0.05151882395148277], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1]}, "observation.state.sensors_tactile_sensor": {"min": [-0.899993896484375, -0.839996337890625, 6.982191562652588, -3.735015869140625, -0.4349994659423828, 3.9355978965759277, 4.08001708984375, -2.2650146484375, 4.667130470275879, 0.059967041015625, -4.214996337890625, 4.897266864776611, -3.1349945068359375, 0.7049560546875, 3.8548662662506104], "max": [-0.899993896484375, -0.839996337890625, 6.982191562652588, -3.735015869140625, -0.4349994659423828, 3.9355978965759277, 4.08001708984375, -2.2650146484375, 4.667130470275879, 0.059967041015625, -4.214996337890625, 4.897266864776611, -3.1349945068359375, 0.7049560546875, 3.8548662662506104], "mean": [-0.899993896484375, -0.839996337890625, 6.982191562652588, -3.735015869140625, -0.4349994659423828, 3.9355978965759277, 4.08001708984375, -2.2650146484375, 4.667130470275879, 0.059967041015625, -4.214996337890625, 4.897266864776611, -3.1349945068359375, 0.7049560546875, 3.8548662662506104], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1]}, "observation.state": {"min": [0.58478844165802, -0.013780768029391766, 0.33199813961982727, 3.1310737133026123, -0.03399142250418663, 0.037803638726472855, 0.04514229670166969, -0.019306229427456856, 0.09451697766780853, -0.001546067651361227, -1.94431734085083, -0.011026307009160519, 2.063051462173462, 0.7913565039634705, -0.899993896484375, -0.839996337890625, 6.982191562652588, -3.735015869140625, -0.4349994659423828, 3.9355978965759277, 4.08001708984375, -2.2650146484375, 4.667130470275879, 0.059967041015625, -4.214996337890625, 4.897266864776611, -3.1349945068359375, 0.7049560546875, 3.8548662662506104, 1.7223169803619385, -0.6066210269927979, -0.7295841574668884, 0.2526821494102478, -0.42813706398010254, 0.05151882395148277], "max": [0.58478844165802, -0.013780768029391766, 0.33199813961982727, 3.1310737133026123, -0.03399142250418663, 0.037803638726472855, 0.04514229670166969, -0.019306229427456856, 0.09451697766780853, -0.001546067651361227, -1.94431734085083, -0.011026307009160519, 2.063051462173462, 0.7913565039634705, -0.899993896484375, -0.839996337890625, 6.982191562652588, -3.735015869140625, -0.4349994659423828, 3.9355978965759277, 4.08001708984375, -2.2650146484375, 4.667130470275879, 0.059967041015625, -4.214996337890625, 4.897266864776611, -3.1349945068359375, 0.7049560546875, 3.8548662662506104, 1.7223169803619385, -0.6066210269927979, -0.7295841574668884, 0.2526821494102478, -0.42813706398010254, 0.05151882395148277], "mean": [0.58478844165802, -0.013780768029391766, 0.33199813961982727, 3.1310737133026123, -0.03399142250418663, 0.037803638726472855, 0.04514229670166969, -0.019306229427456856, 0.09451697766780853, -0.001546067651361227, -1.94431734085083, -0.011026307009160519, 2.063051462173462, 0.7913565039634705, -0.899993896484375, -0.839996337890625, 6.982191562652588, -3.735015869140625, -0.4349994659423828, 3.9355978965759277, 4.08001708984375, -2.2650146484375, 4.667130470275879, 0.059967041015625, -4.214996337890625, 4.897266864776611, -3.1349945068359375, 0.7049560546875, 3.8548662662506104, 1.7223169803619385, -0.6066210269927979, -0.7295841574668884, 0.2526821494102478, -0.42813706398010254, 0.05151882395148277], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1]}, "action": {"min": [-0.00013905508967582136, 9.217410115525126e-05, -0.00019232516933698207, -0.000382499594707042, 0.000447673664893955, 0.0038782123010605574, 0.026977861300110817], "max": [-0.00013905508967582136, 9.217410115525126e-05, -0.00019232516933698207, -0.000382499594707042, 0.000447673664893955, 0.0038782123010605574, 0.026977861300110817], "mean": [-0.00013905508967582136, 9.217410115525126e-05, -0.00019232516933698207, -0.000382499594707042, 0.000447673664893955, 0.0038782123010605574, 0.026977861300110817], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1]}, "timestamp": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1]}, "frame_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1]}, "index": {"min": [344], "max": [344], "mean": [344.0], "std": [0.0], "count": [1]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1]}}}
meta/info.json ADDED
@@ -0,0 +1,276 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": null,
4
+ "total_episodes": 2,
5
+ "total_frames": 345,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:2"
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.primary": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channels"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 30.0,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ },
36
+ "info": {
37
+ "video.height": 256,
38
+ "video.width": 256,
39
+ "video.codec": "av1",
40
+ "video.pix_fmt": "yuv420p",
41
+ "video.is_depth_map": false,
42
+ "video.fps": 15,
43
+ "video.channels": 3,
44
+ "has_audio": false
45
+ }
46
+ },
47
+ "observation.images.tactile": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 256,
51
+ 256,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "video_info": {
60
+ "video.fps": 30.0,
61
+ "video.codec": "av1",
62
+ "video.pix_fmt": "yuv420p",
63
+ "video.is_depth_map": false,
64
+ "has_audio": false
65
+ },
66
+ "info": {
67
+ "video.height": 256,
68
+ "video.width": 256,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 15,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "observation.images.wrist": {
78
+ "dtype": "video",
79
+ "shape": [
80
+ 256,
81
+ 256,
82
+ 3
83
+ ],
84
+ "names": [
85
+ "height",
86
+ "width",
87
+ "channels"
88
+ ],
89
+ "video_info": {
90
+ "video.fps": 30.0,
91
+ "video.codec": "av1",
92
+ "video.pix_fmt": "yuv420p",
93
+ "video.is_depth_map": false,
94
+ "has_audio": false
95
+ },
96
+ "info": {
97
+ "video.height": 256,
98
+ "video.width": 256,
99
+ "video.codec": "av1",
100
+ "video.pix_fmt": "yuv420p",
101
+ "video.is_depth_map": false,
102
+ "video.fps": 15,
103
+ "video.channels": 3,
104
+ "has_audio": false
105
+ }
106
+ },
107
+ "observation.state.cartesian": {
108
+ "dtype": "float32",
109
+ "shape": [
110
+ 6
111
+ ],
112
+ "names": [
113
+ "x",
114
+ "y",
115
+ "z",
116
+ "roll",
117
+ "pitch",
118
+ "yaw"
119
+ ]
120
+ },
121
+ "observation.state.gripper": {
122
+ "dtype": "float32",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": [
127
+ "gripper"
128
+ ]
129
+ },
130
+ "observation.state.joints": {
131
+ "dtype": "float32",
132
+ "shape": [
133
+ 7
134
+ ],
135
+ "names": [
136
+ "joint_0",
137
+ "joint_1",
138
+ "joint_2",
139
+ "joint_3",
140
+ "joint_4",
141
+ "joint_5",
142
+ "joint_6"
143
+ ]
144
+ },
145
+ "observation.state.sensors_ft_sensor": {
146
+ "dtype": "float32",
147
+ "shape": [
148
+ 6
149
+ ],
150
+ "names": [
151
+ "sensors_ft_sensor_0",
152
+ "sensors_ft_sensor_1",
153
+ "sensors_ft_sensor_2",
154
+ "sensors_ft_sensor_3",
155
+ "sensors_ft_sensor_4",
156
+ "sensors_ft_sensor_5"
157
+ ]
158
+ },
159
+ "observation.state.sensors_tactile_sensor": {
160
+ "dtype": "float32",
161
+ "shape": [
162
+ 15
163
+ ],
164
+ "names": [
165
+ "sensors_tactile_sensor_0",
166
+ "sensors_tactile_sensor_1",
167
+ "sensors_tactile_sensor_2",
168
+ "sensors_tactile_sensor_3",
169
+ "sensors_tactile_sensor_4",
170
+ "sensors_tactile_sensor_5",
171
+ "sensors_tactile_sensor_6",
172
+ "sensors_tactile_sensor_7",
173
+ "sensors_tactile_sensor_8",
174
+ "sensors_tactile_sensor_9",
175
+ "sensors_tactile_sensor_10",
176
+ "sensors_tactile_sensor_11",
177
+ "sensors_tactile_sensor_12",
178
+ "sensors_tactile_sensor_13",
179
+ "sensors_tactile_sensor_14"
180
+ ]
181
+ },
182
+ "observation.state": {
183
+ "dtype": "float32",
184
+ "shape": [
185
+ 35
186
+ ],
187
+ "names": [
188
+ "x",
189
+ "y",
190
+ "z",
191
+ "roll",
192
+ "pitch",
193
+ "yaw",
194
+ "gripper",
195
+ "joint_0",
196
+ "joint_1",
197
+ "joint_2",
198
+ "joint_3",
199
+ "joint_4",
200
+ "joint_5",
201
+ "joint_6",
202
+ "sensors_ft_sensor_0",
203
+ "sensors_ft_sensor_1",
204
+ "sensors_ft_sensor_2",
205
+ "sensors_ft_sensor_3",
206
+ "sensors_ft_sensor_4",
207
+ "sensors_ft_sensor_5",
208
+ "sensors_tactile_sensor_0",
209
+ "sensors_tactile_sensor_1",
210
+ "sensors_tactile_sensor_2",
211
+ "sensors_tactile_sensor_3",
212
+ "sensors_tactile_sensor_4",
213
+ "sensors_tactile_sensor_5",
214
+ "sensors_tactile_sensor_6",
215
+ "sensors_tactile_sensor_7",
216
+ "sensors_tactile_sensor_8",
217
+ "sensors_tactile_sensor_9",
218
+ "sensors_tactile_sensor_10",
219
+ "sensors_tactile_sensor_11",
220
+ "sensors_tactile_sensor_12",
221
+ "sensors_tactile_sensor_13",
222
+ "sensors_tactile_sensor_14"
223
+ ]
224
+ },
225
+ "action": {
226
+ "dtype": "float32",
227
+ "shape": [
228
+ 7
229
+ ],
230
+ "names": [
231
+ "x",
232
+ "y",
233
+ "z",
234
+ "roll",
235
+ "pitch",
236
+ "yaw",
237
+ "gripper"
238
+ ]
239
+ },
240
+ "timestamp": {
241
+ "dtype": "float32",
242
+ "shape": [
243
+ 1
244
+ ],
245
+ "names": null
246
+ },
247
+ "frame_index": {
248
+ "dtype": "int64",
249
+ "shape": [
250
+ 1
251
+ ],
252
+ "names": null
253
+ },
254
+ "episode_index": {
255
+ "dtype": "int64",
256
+ "shape": [
257
+ 1
258
+ ],
259
+ "names": null
260
+ },
261
+ "index": {
262
+ "dtype": "int64",
263
+ "shape": [
264
+ 1
265
+ ],
266
+ "names": null
267
+ },
268
+ "task_index": {
269
+ "dtype": "int64",
270
+ "shape": [
271
+ 1
272
+ ],
273
+ "names": null
274
+ }
275
+ }
276
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "pick the lego block."}
videos/chunk-000/observation.images.primary/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b258c013468946d08ebe26b3925431893c4f8bf84030d193febbefd23c7f9a1
3
+ size 2422658
videos/chunk-000/observation.images.primary/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:08a8a9271b8090abca0c3492637d348b7a7887c38fca7a1fdd7120b3e91dcffc
3
+ size 8906
videos/chunk-000/observation.images.tactile/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43b532a195e241a67c89a74afc7a8c40e977d3cba1fb2fbbcc1bbb867ef1c18f
3
+ size 196755
videos/chunk-000/observation.images.tactile/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7a103b3698682b321fccfc18cb0ca9ff9d8b931f5de713dc4abe1e8061a2cab4
3
+ size 909
videos/chunk-000/observation.images.wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:79f8672875c8b32c92e6a1ae43972eb52632a762cae9f2d52345808f550cea8d
3
+ size 1464610
videos/chunk-000/observation.images.wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:949c718ec640b44e536534f8604c4a4e3621ace8c552e670450e66b7b9a9c8f0
3
+ size 6904