Sraghvi commited on
Commit
0fdd753
·
verified ·
1 Parent(s): 3720017

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 sha256:109177102daccb33d0171230963216e73af1f134cab90f01ccc0752a5a6b46dd
3
+ size 2342268
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["robot_manipulation"], "length": 23534}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"min": [0.0, 0.0, 0.0, -3.235358238220215, 0.0, -2.016294002532959, -3.140000104904175, -0.2110207974910736, -1.5700000524520874, 0.0, -1.26600182056427, 0.0, 0.0, -0.28141361474990845], "max": [0.34299004077911377, 1.8755249977111816, 3.140000104904175, 0.0, 0.6212379932403564, 0.0, 0.0, 0.0, 0.0, 0.4867215156555176, 0.0, 1.617638111114502, 3.5166537761688232, 0.0], "mean": [0.05027864873409271, 0.274915486574173, 1.4159985780715942, -1.5364059209823608, 0.09106133133172989, -0.8265913128852844, -1.26139235496521, -0.030931327491998672, -0.6375676393508911, 0.07134238630533218, -0.18558244407176971, 0.23712250590324402, 1.5780341625213623, -0.04125143587589264], "std": [0.11793603003025055, 0.6448688507080078, 1.4767091274261475, 1.5839271545410156, 0.2136055827140808, 0.8631832599639893, 1.4115797281265259, 0.07255522161722183, 0.7068765163421631, 0.16735346615314484, 0.4353022873401642, 0.556187093257904, 1.630738377571106, 0.0967625230550766], "count": [23534]}, "action": {"min": [0.0, 0.0, 0.0, -3.235358238220215, 0.0, -2.016294002532959, -3.140000104904175, -0.2110207974910736, -1.5700000524520874, 0.0, -1.26600182056427, 0.0, 0.0, -0.28141361474990845], "max": [0.34299004077911377, 1.8755249977111816, 3.140000104904175, 0.0, 0.6212379932403564, 0.0, 0.0, 0.0, 0.0, 0.4867215156555176, 0.0, 1.617638111114502, 3.5166537761688232, 0.0], "mean": [0.05027864873409271, 0.274915486574173, 1.4159985780715942, -1.5364059209823608, 0.09106133133172989, -0.8265913128852844, -1.26139235496521, -0.030931327491998672, -0.6375676393508911, 0.07134238630533218, -0.18558244407176971, 0.23712250590324402, 1.5780341625213623, -0.04125143587589264], "std": [0.11793603003025055, 0.6448688507080078, 1.4767091274261475, 1.5839271545410156, 0.2136055827140808, 0.8631832599639893, 1.4115797281265259, 0.07255522161722183, 0.7068765163421631, 0.16735346615314484, 0.4353022873401642, 0.556187093257904, 1.630738377571106, 0.0967625230550766], "count": [23534]}, "observation.velocity": {"min": [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], "max": [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], "mean": [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], "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], "count": [23534]}, "observation.effort": {"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": [23534]}, "observation.arm1_camera_sensor_image_raw": {"min": [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], "max": [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], "mean": [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], "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], "count": [23534]}, "observation.rosout_level": {"min": [0.0], "max": [30.0], "mean": [0.16274327039718628], "std": [2.160752058029175], "count": [23534]}, "observation.rosout_line": {"min": [0.0], "max": [1239.0], "mean": [6.226140975952148], "std": [84.09161376953125], "count": [23534]}, "observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_seq_num": {"min": [0.0], "max": [422.0], "mean": [3.7901759147644043], "std": [32.46294403076172], "count": [23534]}, "observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_type": {"min": [0.0], "max": [1.0], "mean": [0.017506586387753487], "std": [0.13114917278289795], "count": [23534]}, "timestamp": {"min": [0.0], "max": [784.4333333333333], "mean": [392.21666666666664], "std": [226.45602038070587], "count": [23534]}, "frame_index": {"min": [0], "max": [23533], "mean": [11766.5], "std": [6793.680611421176], "count": [23534]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [23534]}, "index": {"min": [0], "max": [23533], "mean": [11766.5], "std": [6793.680611421176], "count": [23534]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [23534]}}}
meta/info.json ADDED
@@ -0,0 +1,331 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "dual_arm_robot",
4
+ "total_episodes": 1,
5
+ "total_frames": 23534,
6
+ "total_tasks": 1,
7
+ "total_videos": 0,
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
+ "observation.tf_transforms": {
18
+ "dtype": "string",
19
+ "shape": [
20
+ 1
21
+ ],
22
+ "names": [
23
+ "transforms"
24
+ ]
25
+ },
26
+ "observation.robot_description_semantic_data": {
27
+ "dtype": "string",
28
+ "shape": [
29
+ 1
30
+ ],
31
+ "names": [
32
+ "data"
33
+ ]
34
+ },
35
+ "observation.state": {
36
+ "dtype": "float32",
37
+ "shape": [
38
+ 14
39
+ ],
40
+ "names": [
41
+ "arm2_robotiq_85_left_knuckle_joint",
42
+ "arm2_wrist_3_joint",
43
+ "arm2_wrist_2_joint",
44
+ "arm2_shoulder_lift_joint",
45
+ "arm2_elbow_joint",
46
+ "arm2_wrist_1_joint",
47
+ "arm2_shoulder_pan_joint",
48
+ "arm1_shoulder_lift_joint",
49
+ "arm1_wrist_1_joint",
50
+ "arm1_robotiq_85_left_knuckle_joint",
51
+ "arm1_shoulder_pan_joint",
52
+ "arm1_wrist_3_joint",
53
+ "arm1_wrist_2_joint",
54
+ "arm1_elbow_joint"
55
+ ]
56
+ },
57
+ "action": {
58
+ "dtype": "float32",
59
+ "shape": [
60
+ 14
61
+ ],
62
+ "names": [
63
+ "arm2_robotiq_85_left_knuckle_joint",
64
+ "arm2_wrist_3_joint",
65
+ "arm2_wrist_2_joint",
66
+ "arm2_shoulder_lift_joint",
67
+ "arm2_elbow_joint",
68
+ "arm2_wrist_1_joint",
69
+ "arm2_shoulder_pan_joint",
70
+ "arm1_shoulder_lift_joint",
71
+ "arm1_wrist_1_joint",
72
+ "arm1_robotiq_85_left_knuckle_joint",
73
+ "arm1_shoulder_pan_joint",
74
+ "arm1_wrist_3_joint",
75
+ "arm1_wrist_2_joint",
76
+ "arm1_elbow_joint"
77
+ ]
78
+ },
79
+ "observation.velocity": {
80
+ "dtype": "float32",
81
+ "shape": [
82
+ 14
83
+ ],
84
+ "names": [
85
+ "arm2_robotiq_85_left_knuckle_joint_vel",
86
+ "arm2_wrist_3_joint_vel",
87
+ "arm2_wrist_2_joint_vel",
88
+ "arm2_shoulder_lift_joint_vel",
89
+ "arm2_elbow_joint_vel",
90
+ "arm2_wrist_1_joint_vel",
91
+ "arm2_shoulder_pan_joint_vel",
92
+ "arm1_shoulder_lift_joint_vel",
93
+ "arm1_wrist_1_joint_vel",
94
+ "arm1_robotiq_85_left_knuckle_joint_vel",
95
+ "arm1_shoulder_pan_joint_vel",
96
+ "arm1_wrist_3_joint_vel",
97
+ "arm1_wrist_2_joint_vel",
98
+ "arm1_elbow_joint_vel"
99
+ ]
100
+ },
101
+ "observation.effort": {
102
+ "dtype": "float32",
103
+ "shape": [
104
+ 14
105
+ ],
106
+ "names": [
107
+ "arm2_robotiq_85_left_knuckle_joint_effort",
108
+ "arm2_wrist_3_joint_effort",
109
+ "arm2_wrist_2_joint_effort",
110
+ "arm2_shoulder_lift_joint_effort",
111
+ "arm2_elbow_joint_effort",
112
+ "arm2_wrist_1_joint_effort",
113
+ "arm2_shoulder_pan_joint_effort",
114
+ "arm1_shoulder_lift_joint_effort",
115
+ "arm1_wrist_1_joint_effort",
116
+ "arm1_robotiq_85_left_knuckle_joint_effort",
117
+ "arm1_shoulder_pan_joint_effort",
118
+ "arm1_wrist_3_joint_effort",
119
+ "arm1_wrist_2_joint_effort",
120
+ "arm1_elbow_joint_effort"
121
+ ]
122
+ },
123
+ "observation.clock_clock": {
124
+ "dtype": "string",
125
+ "shape": [
126
+ 1
127
+ ],
128
+ "names": [
129
+ "clock"
130
+ ]
131
+ },
132
+ "observation.arm1_camera_sensor_image_raw": {
133
+ "dtype": "uint8",
134
+ "shape": [
135
+ 29
136
+ ],
137
+ "names": [
138
+ "pixel_0",
139
+ "pixel_1",
140
+ "pixel_2",
141
+ "pixel_3",
142
+ "pixel_4",
143
+ "pixel_5",
144
+ "pixel_6",
145
+ "pixel_7",
146
+ "pixel_8",
147
+ "pixel_9",
148
+ "pixel_10",
149
+ "pixel_11",
150
+ "pixel_12",
151
+ "pixel_13",
152
+ "pixel_14",
153
+ "pixel_15",
154
+ "pixel_16",
155
+ "pixel_17",
156
+ "pixel_18",
157
+ "pixel_19",
158
+ "pixel_20",
159
+ "pixel_21",
160
+ "pixel_22",
161
+ "pixel_23",
162
+ "pixel_24",
163
+ "pixel_25",
164
+ "pixel_26",
165
+ "pixel_27",
166
+ "pixel_28"
167
+ ]
168
+ },
169
+ "observation.rosout_stamp": {
170
+ "dtype": "string",
171
+ "shape": [
172
+ 1
173
+ ],
174
+ "names": [
175
+ "stamp"
176
+ ]
177
+ },
178
+ "observation.rosout_level": {
179
+ "dtype": "float32",
180
+ "shape": [
181
+ 1
182
+ ],
183
+ "names": [
184
+ "level"
185
+ ]
186
+ },
187
+ "observation.rosout_name": {
188
+ "dtype": "string",
189
+ "shape": [
190
+ 1
191
+ ],
192
+ "names": [
193
+ "name"
194
+ ]
195
+ },
196
+ "observation.rosout_msg": {
197
+ "dtype": "string",
198
+ "shape": [
199
+ 1
200
+ ],
201
+ "names": [
202
+ "msg"
203
+ ]
204
+ },
205
+ "observation.rosout_file": {
206
+ "dtype": "string",
207
+ "shape": [
208
+ 1
209
+ ],
210
+ "names": [
211
+ "file"
212
+ ]
213
+ },
214
+ "observation.rosout_function": {
215
+ "dtype": "string",
216
+ "shape": [
217
+ 1
218
+ ],
219
+ "names": [
220
+ "function"
221
+ ]
222
+ },
223
+ "observation.rosout_line": {
224
+ "dtype": "float32",
225
+ "shape": [
226
+ 1
227
+ ],
228
+ "names": [
229
+ "line"
230
+ ]
231
+ },
232
+ "observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_server_id": {
233
+ "dtype": "string",
234
+ "shape": [
235
+ 1
236
+ ],
237
+ "names": [
238
+ "server_id"
239
+ ]
240
+ },
241
+ "observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_seq_num": {
242
+ "dtype": "float32",
243
+ "shape": [
244
+ 1
245
+ ],
246
+ "names": [
247
+ "seq_num"
248
+ ]
249
+ },
250
+ "observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_type": {
251
+ "dtype": "float32",
252
+ "shape": [
253
+ 1
254
+ ],
255
+ "names": [
256
+ "type"
257
+ ]
258
+ },
259
+ "observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_markers": {
260
+ "dtype": "string",
261
+ "shape": [
262
+ 1
263
+ ],
264
+ "names": [
265
+ "markers"
266
+ ]
267
+ },
268
+ "observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_poses": {
269
+ "dtype": "string",
270
+ "shape": [
271
+ 1
272
+ ],
273
+ "names": [
274
+ "poses"
275
+ ]
276
+ },
277
+ "observation.rviz_moveit_motion_planning_display_robot_interaction_interactive_marker_topic_update_erases": {
278
+ "dtype": "string",
279
+ "shape": [
280
+ 1
281
+ ],
282
+ "names": [
283
+ "erases"
284
+ ]
285
+ },
286
+ "observation.display_contacts_markers": {
287
+ "dtype": "string",
288
+ "shape": [
289
+ 1
290
+ ],
291
+ "names": [
292
+ "markers"
293
+ ]
294
+ },
295
+ "timestamp": {
296
+ "dtype": "float32",
297
+ "shape": [
298
+ 1
299
+ ],
300
+ "names": null
301
+ },
302
+ "frame_index": {
303
+ "dtype": "int64",
304
+ "shape": [
305
+ 1
306
+ ],
307
+ "names": null
308
+ },
309
+ "episode_index": {
310
+ "dtype": "int64",
311
+ "shape": [
312
+ 1
313
+ ],
314
+ "names": null
315
+ },
316
+ "index": {
317
+ "dtype": "int64",
318
+ "shape": [
319
+ 1
320
+ ],
321
+ "names": null
322
+ },
323
+ "task_index": {
324
+ "dtype": "int64",
325
+ "shape": [
326
+ 1
327
+ ],
328
+ "names": null
329
+ }
330
+ }
331
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "robot_manipulation"}