RobotisSW commited on
Commit
c53d4e1
·
verified ·
1 Parent(s): cb0794a

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 sha256:83f395286ab540733cd95b68e3ce950e736119596b8f7dc9e2c3cba2eded2be2
3
+ size 9089
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c78b7f5f694e26241aeec13521ace0581a4a8d1b1daadab0954cc635e82327f
3
+ size 12644
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9eaa45b2ecb149d6080fa7d70c0bbe9c12526a0613649c12f149e8452c9b9ef1
3
+ size 7469
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["pick and place objects"], "length": 163}
2
+ {"episode_index": 1, "tasks": ["pick and place objects"], "length": 300}
3
+ {"episode_index": 2, "tasks": ["pick and place objects"], "length": 98}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"timestamp": {"min": [0.0], "max": [5.4], "mean": [2.6999999999999993], "std": [1.5684387141358123], "count": [163]}, "frame_index": {"min": [0], "max": [162], "mean": [81.0], "std": [47.05316142407437], "count": [163]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [163]}, "index": {"min": [0], "max": [162], "mean": [81.0], "std": [47.05316142407437], "count": [163]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [163]}, "observation.images.cam_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42128238727967937]], [[0.45282421774223447]], [[0.4763692206152824]]], "std": [[[0.2859411322741921]], [[0.26677405473092713]], [[0.2641015945472274]]], "count": [163]}, "observation.images.cam_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2714884946628264]], [[0.26819096094470507]], [[0.26805177794195195]]], "std": [[[0.31008097358631764]], [[0.30813900169818165]], [[0.31421382546109905]]], "count": [163]}, "observation.state": {"min": [0.022997727617621422, 0.0, 0.23479492962360382, -0.05934588238596916, 0.0736670270562172, 0.17338776588439941, 0.5647730231285095, 0.12920676171779633, 0.15193600952625275, -0.05522330850362778, -0.17939186096191406, -0.04447345808148384, 0.2271130532026291, 0.16726382076740265, -0.5287390947341919, 0.1410878449678421, 0.0, 0.0, 0.0], "max": [0.023009711876511574, 0.0, 0.23480692505836487, -0.05859087407588959, 0.0736670270562172, 0.17341172695159912, 0.5647730231285095, 0.13069188594818115, 0.1519479900598526, -0.055211324244737625, -0.17876867949962616, -0.04446147382259369, 0.22712503373622894, 0.1672758162021637, -0.5276737809181213, 0.1410878449678421, 0.0, 0.0, 0.0], "mean": [0.023007219657301903, 0.0, 0.23480385541915894, -0.05896533653140068, 0.07366688549518585, 0.17340607941150665, 0.564773440361023, 0.12952573597431183, 0.15193581581115723, -0.05521248281002045, -0.1792028844356537, -0.04446907714009285, 0.22712481021881104, 0.16727089881896973, -0.5277187824249268, 0.14108796417713165, 0.0, 0.0, 0.0], "std": [4.869212716585025e-06, 0.0, 4.993735274183564e-06, 0.0001662924769334495, 1.4156103134155273e-07, 8.115693162835669e-06, 4.172325134277344e-07, 0.0006098371814005077, 9.729200201036292e-07, 3.4646232052182313e-06, 0.0001590095489518717, 5.779947969131172e-06, 9.474568969380925e-07, 5.888555733690737e-06, 0.00012522682663984597, 1.1920928955078125e-07, 0.0, 0.0, 0.0], "count": [163]}, "action": {"min": [0.023020952939987183, -0.013805827125906944, 0.23481371998786926, -0.05982524901628494, 0.07366704940795898, 0.1718897819519043, 0.5647807121276855, 0.12972813844680786, 0.1519382894039154, -0.05522330850362778, -0.17947575449943542, -0.04448544234037399, 0.2256053388118744, 0.16728559136390686, -0.5292233824729919, 0.1419999748468399, 0.0, 0.0, 0.0], "max": [0.023020952939987183, -0.012271846644580364, 0.23481371998786926, -0.058291271328926086, 0.07520177960395813, 0.17342451214790344, 0.5647807121276855, 0.13126210868358612, 0.15347301959991455, -0.05522330850362778, -0.17794176936149597, -0.04448544234037399, 0.22714006900787354, 0.16728559136390686, -0.5276893973350525, 0.1419999748468399, 0.0, 0.0, 0.0], "mean": [0.023020979017019272, -0.012281268835067749, 0.23481371998786926, -0.05889361351728439, 0.07367661595344543, 0.17341485619544983, 0.564781129360199, 0.1299164593219757, 0.15195691585540771, -0.05522337555885315, -0.17916524410247803, -0.04448546841740608, 0.22713065147399902, 0.16728579998016357, -0.5277268886566162, 0.14200015366077423, 0.0, 0.0, 0.0], "std": [2.60770320892334e-08, 0.00011978143447777256, 0.0, 0.0007490983698517084, 0.00011984051525359973, 0.00011984023149125278, 4.172325134277344e-07, 0.0005032827612012625, 0.00016895568114705384, 6.705522537231445e-08, 0.0006163996295072138, 2.60770320892334e-08, 0.0001198400350403972, 2.086162567138672e-07, 0.00023733523266855627, 1.7881393432617188e-07, 0.0, 0.0, 0.0], "count": [163]}}}
2
+ {"episode_index": 1, "stats": {"timestamp": {"min": [0.0], "max": [9.966666666666667], "mean": [4.983333333333333], "std": [2.8867353083961027], "count": [300]}, "frame_index": {"min": [0], "max": [299], "mean": [149.5], "std": [86.60205925188308], "count": [300]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [300]}, "index": {"min": [163], "max": [462], "mean": [312.5], "std": [86.60205925188308], "count": [300]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [300]}, "observation.images.cam_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4217143400337074]], [[0.4533690636946603]], [[0.4770066358881078]]], "std": [[[0.28618793214217847]], [[0.26691812397213516]], [[0.26434266796457123]]], "count": [300]}, "observation.images.cam_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2743336230063304]], [[0.270185664719242]], [[0.26745544020018913]]], "std": [[[0.30926682961643687]], [[0.30725729179875755]], [[0.31258173838474224]]], "count": [300]}, "observation.state": {"min": [0.022997727617621422, 0.0, 0.23479492962360382, -0.0595855675637722, 0.0736670270562172, 0.17341172695159912, 0.5647730231285095, 0.12920676171779633, 0.15193600952625275, -0.05522330850362778, -0.17940384149551392, -0.04447345808148384, 0.22712503373622894, 0.16726382076740265, -0.5286459922790527, 0.1410878449678421, 0.0, 0.0, 0.0], "max": [0.023009711876511574, 0.0, 0.23480692505836487, -0.05854293704032898, 0.0736670270562172, 0.17341172695159912, 0.5647730231285095, 0.13069188594818115, 0.15193600952625275, -0.055211324244737625, -0.17882859706878662, -0.04446147382259369, 0.22712503373622894, 0.1672758162021637, -0.5276737809181213, 0.14257296919822693, 0.0, 0.0015347301959991455, 0.0], "mean": [0.023007148876786232, 0.0, 0.23480437695980072, -0.05894801393151283, 0.0736670047044754, 0.17341209948062897, 0.564773440361023, 0.12939029932022095, 0.1519356667995453, -0.05521342530846596, -0.17927294969558716, -0.04446912556886673, 0.2271243780851364, 0.16727067530155182, -0.5277203321456909, 0.1410926878452301, 0.0, 5.115767180541297e-06, 0.0], "std": [4.937312041874975e-06, 0.0, 4.742664714285638e-06, 0.00021554125123657286, 2.2351741790771484e-08, 3.725290298461914e-07, 4.172325134277344e-07, 0.0004883384681306779, 3.427267074584961e-07, 4.570655619318131e-06, 0.00012260524090379477, 5.763992703577969e-06, 6.556510925292969e-07, 5.874866019439651e-06, 0.00010767989442683756, 8.560070273233578e-05, 0.0, 8.84597611729987e-05, 0.0], "count": [300]}, "action": {"min": [0.023020952939987183, -0.013805827125906944, 0.23481371998786926, -0.05982524901628494, 0.07366704940795898, 0.17342451214790344, 0.5647807121276855, 0.12972813844680786, 0.1519382894039154, -0.05522330850362778, -0.17947575449943542, -0.04448544234037399, 0.2256053388118744, 0.16728559136390686, -0.5292233824729919, 0.1419999748468399, 0.0, 0.0, 0.0], "max": [0.023020952939987183, -0.012271846644580364, 0.23481371998786926, -0.058291271328926086, 0.07520177960395813, 0.17342451214790344, 0.5647807121276855, 0.13126210868358612, 0.15347301959991455, -0.05522330850362778, -0.17794176936149597, -0.04448544234037399, 0.22714006900787354, 0.16728559136390686, -0.5276893973350525, 0.1419999748468399, 0.0, 0.0, 0.0], "mean": [0.023020880296826363, -0.012276981957256794, 0.23481404781341553, -0.058976441621780396, 0.07367757707834244, 0.17342405021190643, 0.5647792816162109, 0.12981490790843964, 0.15195372700691223, -0.055223412811756134, -0.17926029860973358, -0.04448532313108444, 0.22712425887584686, 0.16728585958480835, -0.5277305841445923, 0.14199970662593842, 0.0, 0.0, 0.0], "std": [7.264316082000732e-08, 8.841668750392273e-05, 3.2782554626464844e-07, 0.0007626137230545282, 0.0001248920598300174, 4.6193599700927734e-07, 1.430511474609375e-06, 0.0003546611696947366, 0.00015270365111064166, 1.043081283569336e-07, 0.0005322729703038931, 1.1920928955078125e-07, 0.00015270462608896196, 2.682209014892578e-07, 0.00024713625316508114, 2.682209014892578e-07, 0.0, 0.0, 0.0], "count": [300]}}}
3
+ {"episode_index": 2, "stats": {"timestamp": {"min": [0.0], "max": [3.2333333333333334], "mean": [1.616666666666666], "std": [0.942956343987709], "count": [98]}, "frame_index": {"min": [0], "max": [97], "mean": [48.5], "std": [28.28869031963127], "count": [98]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [98]}, "index": {"min": [463], "max": [560], "mean": [511.5], "std": [28.28869031963127], "count": [98]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [98]}, "observation.images.cam_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42032887526079615]], [[0.45214732158586707]], [[0.47583123225705376]]], "std": [[[0.2853499751781402]], [[0.2663848205367928]], [[0.26393376477545943]]], "count": [98]}, "observation.images.cam_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.279769774261906]], [[0.27444619435824646]], [[0.2698857506839214]]], "std": [[[0.30665897420590205]], [[0.30484144701690785]], [[0.30978309853377967]]], "count": [98]}, "observation.state": {"min": [0.022997727617621422, 0.0, 0.23479492962360382, -0.05932191386818886, 0.0736670270562172, 0.17341172695159912, 0.5647730231285095, 0.12920676171779633, 0.15193600952625275, -0.05522330850362778, -0.17940384149551392, -0.04447345808148384, 0.22712503373622894, 0.16726382076740265, -0.5282943844795227, 0.1410878449678421, 0.0, 0.0, 0.0], "max": [0.023009711876511574, 0.0, 0.23480692505836487, -0.05862682685256004, 0.0736670270562172, 0.17341172695159912, 0.5647730231285095, 0.13069188594818115, 0.15193600952625275, -0.055211324244737625, -0.17917615175247192, -0.04446147382259369, 0.22712503373622894, 0.1672758162021637, -0.5276841521263123, 0.1410878449678421, 0.0, 0.0, 0.0], "mean": [0.023007376119494438, 0.0, 0.23480331897735596, -0.058959558606147766, 0.07366704195737839, 0.17341163754463196, 0.5647733211517334, 0.12938854098320007, 0.15193583071231842, -0.05521527677774429, -0.1793314665555954, -0.04446941614151001, 0.2271251231431961, 0.1672719419002533, -0.5277660489082336, 0.14108775556087494, 0.0, 0.0, 0.0], "std": [4.737803919852013e-06, 0.0, 5.421934474725276e-06, 0.0001521094818599522, 1.4901161193847656e-08, 8.940696716308594e-08, 2.980232238769531e-07, 0.00048682920169085264, 1.7881393432617188e-07, 5.6200847211584914e-06, 5.885683640372008e-05, 5.6636863519088365e-06, 8.940696716308594e-08, 5.578951913776109e-06, 0.00013294609379954636, 8.940696716308594e-08, 0.0, 0.0, 0.0], "count": [98]}, "action": {"min": [0.023020952939987183, -0.012271846644580364, 0.23481371998786926, -0.05982524901628494, 0.07366704940795898, 0.1718897819519043, 0.5647807121276855, 0.12972813844680786, 0.1519382894039154, -0.05522330850362778, -0.17947575449943542, -0.04448544234037399, 0.2256053388118744, 0.16728559136390686, -0.5292233824729919, 0.1419999748468399, 0.0, 0.0, 0.0], "max": [0.023020952939987183, -0.012271846644580364, 0.23481371998786926, -0.058291271328926086, 0.07366704940795898, 0.17342451214790344, 0.5647807121276855, 0.13126210868358612, 0.15347301959991455, -0.05522330850362778, -0.17794176936149597, -0.04448544234037399, 0.22714006900787354, 0.16728559136390686, -0.5276893973350525, 0.1419999748468399, 0.0, 0.0, 0.0], "mean": [0.023020975291728973, -0.01227184385061264, 0.23481370508670807, -0.05887046083807945, 0.07366704940795898, 0.17340895533561707, 0.564781129360199, 0.12983781099319458, 0.1519540548324585, -0.05522332340478897, -0.17930355668067932, -0.04448540508747101, 0.22712458670139313, 0.1672857254743576, -0.5277680158615112, 0.14200012385845184, 0.0, 0.0, 0.0], "std": [2.2351741790771484e-08, 2.7939677238464355e-09, 1.4901161193847656e-08, 0.000743633252568543, 0.0, 0.00015423810691572726, 4.172325134277344e-07, 0.0003950576938223094, 0.00015423810691572726, 1.4901161193847656e-08, 0.0004842291527893394, 3.725290298461914e-08, 0.00015423825243487954, 1.341104507446289e-07, 0.00033753737807273865, 1.4901161193847656e-07, 0.0, 0.0, 0.0], "count": [98]}}}
meta/info.json ADDED
@@ -0,0 +1,147 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "aiworker",
4
+ "total_episodes": 3,
5
+ "total_frames": 561,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
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
+ "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.images.cam_wrist_left": {
53
+ "dtype": "video",
54
+ "names": [
55
+ "channels",
56
+ "height",
57
+ "width"
58
+ ],
59
+ "shape": [
60
+ 240,
61
+ 424,
62
+ 3
63
+ ],
64
+ "info": {
65
+ "video.height": 240,
66
+ "video.width": 424,
67
+ "video.channels": 3,
68
+ "video.codec": "libx264",
69
+ "video.pix_fmt": "yuv420p"
70
+ }
71
+ },
72
+ "observation.images.cam_wrist_right": {
73
+ "dtype": "video",
74
+ "names": [
75
+ "channels",
76
+ "height",
77
+ "width"
78
+ ],
79
+ "shape": [
80
+ 240,
81
+ 424,
82
+ 3
83
+ ],
84
+ "info": {
85
+ "video.height": 240,
86
+ "video.width": 424,
87
+ "video.channels": 3,
88
+ "video.codec": "libx264",
89
+ "video.pix_fmt": "yuv420p"
90
+ }
91
+ },
92
+ "observation.state": {
93
+ "dtype": "float32",
94
+ "names": [
95
+ "arm_l_joint1",
96
+ "arm_l_joint2",
97
+ "arm_l_joint3",
98
+ "arm_l_joint4",
99
+ "arm_l_joint5",
100
+ "arm_l_joint6",
101
+ "arm_l_joint7",
102
+ "gripper_l_joint1",
103
+ "arm_r_joint1",
104
+ "arm_r_joint2",
105
+ "arm_r_joint3",
106
+ "arm_r_joint4",
107
+ "arm_r_joint5",
108
+ "arm_r_joint6",
109
+ "arm_r_joint7",
110
+ "gripper_r_joint1",
111
+ "head_joint1",
112
+ "head_joint2",
113
+ "lift_joint"
114
+ ],
115
+ "shape": [
116
+ 19
117
+ ]
118
+ },
119
+ "action": {
120
+ "dtype": "float32",
121
+ "names": [
122
+ "arm_l_joint1",
123
+ "arm_l_joint2",
124
+ "arm_l_joint3",
125
+ "arm_l_joint4",
126
+ "arm_l_joint5",
127
+ "arm_l_joint6",
128
+ "arm_l_joint7",
129
+ "gripper_l_joint1",
130
+ "arm_r_joint1",
131
+ "arm_r_joint2",
132
+ "arm_r_joint3",
133
+ "arm_r_joint4",
134
+ "arm_r_joint5",
135
+ "arm_r_joint6",
136
+ "arm_r_joint7",
137
+ "gripper_r_joint1",
138
+ "head_joint1",
139
+ "head_joint2",
140
+ "lift_joint"
141
+ ],
142
+ "shape": [
143
+ 19
144
+ ]
145
+ }
146
+ }
147
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "pick and place objects"}
videos/chunk-000/observation.images.cam_wrist_left/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e0d9598319e23154dd43ad34cac4e4a06e36c93504f496744fd5ce63b662e87
3
+ size 835727
videos/chunk-000/observation.images.cam_wrist_left/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:939ce1424be77294644a16b72f457160c0d2ac19c88d2cfde47985d9958beea3
3
+ size 1594379
videos/chunk-000/observation.images.cam_wrist_left/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:35dd47794c5bfe03b42a22699bb5f119022d6b69ab0f70e370533cad119453b2
3
+ size 547656
videos/chunk-000/observation.images.cam_wrist_right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f067abb194dd3792137893061b4e6f43f51a7c7f1c66caff5b511b4691f58f1
3
+ size 842907
videos/chunk-000/observation.images.cam_wrist_right/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cb2612e37e7d9de0ec0d26ce50161b6e3105262c8b57fcfef583922d4c4f6134
3
+ size 1547174
videos/chunk-000/observation.images.cam_wrist_right/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1d1b3a517339a7731441eb9bfd6d69905f4cc3de2166af052578192415bd42e5
3
+ size 521165