RobotisSW commited on
Commit
2456314
·
verified ·
1 Parent(s): 092eaee

Add files using upload-large-folder tool

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5bbe42af74a176107cb926f7b08edbd3ebc5dbd8df7df7b8e5b037ae5647ed5b
3
+ size 14286
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0fb89be1a4b933447ae6f15a0e0c4f9f8ee44c3b0e21ca0f17728f4aacb51902
3
+ size 16334
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["test"], "length": 218}
2
+ {"episode_index": 1, "tasks": ["test"], "length": 284}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"timestamp": {"min": [0.0], "max": [7.233333333333333], "mean": [3.616666666666667], "std": [2.0976839079751217], "count": [218]}, "frame_index": {"min": [0], "max": [217], "mean": [108.5], "std": [62.930517239253646], "count": [218]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [218]}, "index": {"min": [0], "max": [217], "mean": [108.5], "std": [62.930517239253646], "count": [218]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [218]}, "observation.images.cam_head": {"min": [[[0.10980392156862745]], [[0.08627450980392157]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6103427151416122]], [[0.5846088480392156]], [[0.5515401007625272]]], "std": [[[0.17294600011083572]], [[0.18452233303167362]], [[0.20231502475483293]]], "count": [100]}, "observation.images.cam_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43644305147058826]], [[0.4399571323529412]], [[0.42652141544117644]]], "std": [[[0.21435024816261747]], [[0.20476384507186257]], [[0.21146875715008429]]], "count": [100]}, "observation.images.cam_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4616146568627451]], [[0.45164125612745093]], [[0.4488679166666667]]], "std": [[[0.24721541649874842]], [[0.23834743707204484]], [[0.24330549512812538]]], "count": [100]}, "observation.state": {"min": [0.09980462491512299, 0.11196861416101456, -0.5875146389007568, -0.3344078063964844, 0.6151502728462219, -0.2828996181488037, 0.05982213094830513, 0.139592245221138, 0.12729643285274506, -0.01992976665496826, -0.18867963552474976, -0.26077672839164734, 0.33131587505340576, -0.14179734885692596, 0.007663934491574764, 0.08590292185544968, 0.8176117539405823, -0.2208932340145111, -0.010490000247955322, -0.00012383112334646285, -1.923462605191162e-06, -0.00036773187457583845], "max": [0.10048772394657135, 0.11196861416101456, -0.5875146389007568, -0.33431193232536316, 0.6160610914230347, -0.2828996181488037, 0.05982213094830513, 0.139592245221138, 0.1273084282875061, -0.01992976665496826, -0.18867963552474976, -0.26077672839164734, 0.33131587505340576, -0.1411142498254776, 0.007663934491574764, 0.08743690699338913, 0.8191457390785217, -0.21935924887657166, -0.010479999706149101, 0.00010943214874714613, 2.015313157244236e-06, 0.00038524335832335055], "mean": [0.10007540881633759, 0.11196884512901306, -0.5875152945518494, -0.3343939483165741, 0.6155890226364136, -0.2828989326953888, 0.05982208624482155, 0.13959263265132904, 0.1273021399974823, -0.019929831847548485, -0.18867911398410797, -0.260776549577713, 0.33131492137908936, -0.1416102796792984, 0.007663938216865063, 0.08591004461050034, 0.819126307964325, -0.22088655829429626, -0.010489419102668762, -7.661836889383267e-07, -2.9205835527790214e-09, -5.622472940558509e-07], "std": [0.0001517823984613642, 2.3096799850463867e-07, 6.556510925292969e-07, 1.7423661120119505e-05, 0.0001980586675927043, 6.854534149169922e-07, 4.470348358154297e-08, 3.8743019104003906e-07, 5.988746579532744e-06, 6.51925802230835e-08, 5.21540641784668e-07, 1.7881393432617188e-07, 9.5367431640625e-07, 0.00015904707834124565, 3.725290298461914e-09, 0.00010365596244810149, 0.00017871588352136314, 0.00010365664638811722, 2.2810272639617324e-06, 4.089447611477226e-05, 7.262243002514879e-07, 0.00013884162763133645], "count": [218]}, "action": {"min": [0.09970875084400177, 0.11198059469461441, -0.5875146389007568, -0.3344078063964844, 0.6151263117790222, -0.2829127013683319, 0.05982524901628494, 0.140497088432312, 0.12732040882110596, -0.019941750913858414, -0.18867963552474976, -0.26077672839164734, 0.33133983612060547, -0.14178647100925446, 0.007669903803616762, 0.08650097250938416, 0.6951000094413757, -0.22082345187664032, -0.010490000247955322, 0.0, 0.0, 0.0], "max": [0.10124272853136063, 0.11198059469461441, -0.5875146389007568, -0.3344078063964844, 0.6166602969169617, -0.2829127013683319, 0.05982524901628494, 0.140497088432312, 0.12732040882110596, -0.019941750913858414, -0.18867963552474976, -0.26077672839164734, 0.33133983612060547, -0.13871850073337555, 0.007669903803616762, 0.08650097250938416, 0.6951000094413757, -0.21937960386276245, -0.010490000247955322, 0.0, 0.0, 0.0], "mean": [0.10009561479091644, 0.11198047548532486, -0.5875152945518494, -0.3344082534313202, 0.6156054735183716, -0.2829130291938782, 0.05982517451047897, 0.14049719274044037, 0.12732070684432983, -0.019941791892051697, -0.18867911398410797, -0.260776549577713, 0.33134016394615173, -0.1415472775697708, 0.007669918239116669, 0.08650093525648117, 0.6950992345809937, -0.2200099229812622, -0.010489966720342636, 0.0, 0.0, 0.0], "std": [0.0006662511732429266, 1.1920928955078125e-07, 6.556510925292969e-07, 4.470348358154297e-07, 0.0007106646662577987, 3.2782554626464844e-07, 7.450580596923828e-08, 1.043081283569336e-07, 2.980232238769531e-07, 4.0978193283081055e-08, 5.21540641784668e-07, 1.7881393432617188e-07, 3.2782554626464844e-07, 0.0008226540521718562, 1.4435499906539917e-08, 3.725290298461914e-08, 7.748603820800781e-07, 0.00031346778268925846, 3.3527612686157227e-08, 0.0, 0.0, 0.0], "count": [218]}}}
2
+ {"episode_index": 1, "stats": {"timestamp": {"min": [0.0], "max": [9.433333333333334], "mean": [4.716666666666667], "std": [2.7327743330826926], "count": [284]}, "frame_index": {"min": [0], "max": [283], "mean": [141.5], "std": [81.98322999248077], "count": [284]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [284]}, "index": {"min": [218], "max": [501], "mean": [359.5], "std": [81.98322999248077], "count": [284]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [284]}, "observation.images.cam_head": {"min": [[[0.10588235294117647]], [[0.058823529411764705]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6104407598039215]], [[0.5849601171023965]], [[0.5519179656862745]]], "std": [[[0.1729229915343939]], [[0.1844379481552714]], [[0.20214896857518488]]], "count": [100]}, "observation.images.cam_wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4353136887254902]], [[0.4406808762254902]], [[0.4270767095588235]]], "std": [[[0.21402911155616275]], [[0.20499410509078136]], [[0.2116612038740048]]], "count": [100]}, "observation.images.cam_wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46116386029411766]], [[0.4521395669934641]], [[0.4492702593954248]]], "std": [[[0.24726460570493897]], [[0.23842892420074732]], [[0.24336383671764927]]], "count": [100]}, "observation.state": {"min": [0.09978065639734268, 0.11196861416101456, -0.5875146389007568, -0.3343958258628845, 0.6151502728462219, -0.28291159868240356, 0.05982213094830513, 0.139592245221138, 0.12729643285274506, -0.01992976665496826, -0.1887155920267105, -0.26077672839164734, 0.33131587505340576, -0.1417853683233261, 0.007663934491574764, 0.08590292185544968, 0.8191457390785217, -0.2208932340145111, -0.010490000247955322, -0.00010943214874714613, -1.923462605191162e-06, -0.00036773187457583845], "max": [0.10042780637741089, 0.11196861416101456, -0.5875146389007568, -0.3343958258628845, 0.6159891486167908, -0.2828996181488037, 0.05982213094830513, 0.139592245221138, 0.12729643285274506, -0.01992976665496826, -0.18867963552474976, -0.26077672839164734, 0.33131587505340576, -0.14099439978599548, 0.007663934491574764, 0.08743690699338913, 0.8191457390785217, -0.2208932340145111, -0.010479999706149101, 0.00010943214874714613, 1.7397618421455263e-06, 0.0003327089361846447], "mean": [0.1000390276312828, 0.11196888238191605, -0.5875138640403748, -0.33439621329307556, 0.6156444549560547, -0.2829006314277649, 0.05982208997011185, 0.13959237933158875, 0.12729643285274506, -0.01992984302341938, -0.18868044018745422, -0.2607770562171936, 0.33131474256515503, -0.14156658947467804, 0.007663944270461798, 0.08591384440660477, 0.8191487193107605, -0.22089365124702454, -0.010489295236766338, -9.835914625000441e-07, 6.6472152226992876e-09, 1.2640612112591043e-06], "std": [0.00013211031910032034, 2.682209014892578e-07, 7.748603820800781e-07, 3.8743019104003906e-07, 0.0002231217222288251, 4.556579824566143e-06, 4.0978193283081055e-08, 1.341104507446289e-07, 0.0, 7.636845111846924e-08, 6.075948931538733e-06, 3.2782554626464844e-07, 1.1324882507324219e-06, 0.00016166716523002833, 9.778887033462524e-09, 0.00012827526370529085, 2.9802322387695312e-06, 4.172325134277344e-07, 2.4989069515868323e-06, 2.5052977434825152e-05, 4.4687553213407227e-07, 8.532823994755745e-05], "count": [284]}, "action": {"min": [0.09970875084400177, 0.11198059469461441, -0.5875146389007568, -0.3344078063964844, 0.6151263117790222, -0.2829127013683319, 0.05982524901628494, 0.140497088432312, 0.12732040882110596, -0.019941750913858414, -0.18867963552474976, -0.26077672839164734, 0.33133983612060547, -0.14178647100925446, 0.007669903803616762, 0.08650097250938416, 0.6951000094413757, -0.22053878009319305, -0.010490000247955322, 0.0, 0.0, 0.0], "max": [0.10124272853136063, 0.11198059469461441, -0.5875146389007568, -0.3344078063964844, 0.6166602969169617, -0.2829127013683319, 0.05982524901628494, 0.140497088432312, 0.12732040882110596, -0.019941750913858414, -0.18867963552474976, -0.26077672839164734, 0.33133983612060547, -0.13871850073337555, 0.007669903803616762, 0.08650097250938416, 0.6951000094413757, -0.21946392953395844, -0.010490000247955322, 0.0, 0.0, 0.0], "mean": [0.1001298800110817, 0.11198046803474426, -0.5875138640403748, -0.33440902829170227, 0.6156396865844727, -0.28291305899620056, 0.05982517823576927, 0.14049682021141052, 0.12732061743736267, -0.019941795617341995, -0.1886790245771408, -0.2607770562171936, 0.33133941888809204, -0.1416025310754776, 0.007669919636100531, 0.08650075644254684, 0.6950991749763489, -0.21996061503887177, -0.010489961132407188, 0.0, 0.0, 0.0], "std": [0.0006846711621619761, 1.2665987014770508e-07, 7.748603820800781e-07, 1.2218952178955078e-06, 0.0007237617392092943, 3.5762786865234375e-07, 7.078051567077637e-08, 2.682209014892578e-07, 2.086162567138672e-07, 4.470348358154297e-08, 6.109476089477539e-07, 3.2782554626464844e-07, 4.172325134277344e-07, 0.0007278010598383844, 1.5832483768463135e-08, 2.1606683731079102e-07, 8.344650268554688e-07, 0.0002483264252077788, 3.91155481338501e-08, 0.0, 0.0, 0.0], "count": [284]}}}
meta/info.json ADDED
@@ -0,0 +1,173 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "ffw_sg2_rev1",
4
+ "total_episodes": 2,
5
+ "total_frames": 502,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
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
+ "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_head": {
53
+ "dtype": "video",
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "shape": [
60
+ 720,
61
+ 1280,
62
+ 3
63
+ ],
64
+ "info": {
65
+ "video.height": 720,
66
+ "video.width": 1280,
67
+ "video.channels": 3,
68
+ "video.codec": "libx264",
69
+ "video.pix_fmt": "yuv420p"
70
+ }
71
+ },
72
+ "observation.images.cam_wrist_left": {
73
+ "dtype": "video",
74
+ "names": [
75
+ "height",
76
+ "width",
77
+ "channels"
78
+ ],
79
+ "shape": [
80
+ 480,
81
+ 640,
82
+ 3
83
+ ],
84
+ "info": {
85
+ "video.height": 480,
86
+ "video.width": 640,
87
+ "video.channels": 3,
88
+ "video.codec": "libx264",
89
+ "video.pix_fmt": "yuv420p"
90
+ }
91
+ },
92
+ "observation.images.cam_wrist_right": {
93
+ "dtype": "video",
94
+ "names": [
95
+ "height",
96
+ "width",
97
+ "channels"
98
+ ],
99
+ "shape": [
100
+ 480,
101
+ 640,
102
+ 3
103
+ ],
104
+ "info": {
105
+ "video.height": 480,
106
+ "video.width": 640,
107
+ "video.channels": 3,
108
+ "video.codec": "libx264",
109
+ "video.pix_fmt": "yuv420p"
110
+ }
111
+ },
112
+ "observation.state": {
113
+ "dtype": "float32",
114
+ "names": [
115
+ "arm_l_joint1",
116
+ "arm_l_joint2",
117
+ "arm_l_joint3",
118
+ "arm_l_joint4",
119
+ "arm_l_joint5",
120
+ "arm_l_joint6",
121
+ "arm_l_joint7",
122
+ "gripper_l_joint1",
123
+ "arm_r_joint1",
124
+ "arm_r_joint2",
125
+ "arm_r_joint3",
126
+ "arm_r_joint4",
127
+ "arm_r_joint5",
128
+ "arm_r_joint6",
129
+ "arm_r_joint7",
130
+ "gripper_r_joint1",
131
+ "head_joint1",
132
+ "head_joint2",
133
+ "lift_joint",
134
+ "linear_x",
135
+ "linear_y",
136
+ "angular_z"
137
+ ],
138
+ "shape": [
139
+ 22
140
+ ]
141
+ },
142
+ "action": {
143
+ "dtype": "float32",
144
+ "names": [
145
+ "arm_l_joint1",
146
+ "arm_l_joint2",
147
+ "arm_l_joint3",
148
+ "arm_l_joint4",
149
+ "arm_l_joint5",
150
+ "arm_l_joint6",
151
+ "arm_l_joint7",
152
+ "gripper_l_joint1",
153
+ "arm_r_joint1",
154
+ "arm_r_joint2",
155
+ "arm_r_joint3",
156
+ "arm_r_joint4",
157
+ "arm_r_joint5",
158
+ "arm_r_joint6",
159
+ "arm_r_joint7",
160
+ "gripper_r_joint1",
161
+ "head_joint1",
162
+ "head_joint2",
163
+ "lift_joint",
164
+ "linear_x",
165
+ "linear_y",
166
+ "angular_z"
167
+ ],
168
+ "shape": [
169
+ 22
170
+ ]
171
+ }
172
+ }
173
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "test"}
videos/chunk-000/observation.images.cam_head/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d0e52196bea8bf1177d3b79fb144a78db287b652d104cbfbcf1ce8f1eb22e47c
3
+ size 7436941
videos/chunk-000/observation.images.cam_head/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d1b3c82fb993ee10393a2b5bd39901305880c344e2b0043f0953e94323f39e0
3
+ size 9665231
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 sha256:986df8e1a5d7dae83f19eed4950a8da1621248d58e3776ef0ca09c219bcc278f
3
+ size 1878352
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 sha256:7ed58263e77c74a91701a039193355e6ce7c0c1c1ff47cd3ada46a1d900e2fe0
3
+ size 2513953
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:fb800e7af21861e0aa21802ed97010597c2ba85eaec3fde1b351ace81e3a6002
3
+ size 2977233
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 sha256:25294ea2407033e7c5d911aa1ee315c202b661d206ee735dceae05a2c0de7379
3
+ size 3597795