Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000000.parquet.json +0 -0
- meta/episodes.json +10 -0
- meta/info.json +792 -0
- meta/stats.json +43 -0
- meta/tasks.json +8 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:7ad9411fb19d48a09c444126e2eb383cb56fc41f6c601188c81f8c133d5a892c
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size 206717
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data/chunk-000/episode_000000.parquet.json
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The diff for this file is too large to render.
See raw diff
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meta/episodes.json
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@@ -0,0 +1,10 @@
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[
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{
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"episode_index": 0,
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"start_frame_index": 0,
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"end_frame_index": 309,
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"start_timestamp": 0.0,
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"end_timestamp": 30.90000009536743,
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"duration": 30.90000009536743
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}
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]
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meta/info.json
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "dual_arm_robot",
|
| 4 |
+
"fps": 10.0,
|
| 5 |
+
"video": false,
|
| 6 |
+
"encoding": null,
|
| 7 |
+
"dataset_type": "single_file",
|
| 8 |
+
"data_path": "data/chunk-{chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:310"
|
| 11 |
+
},
|
| 12 |
+
"keys": [
|
| 13 |
+
"observation.arm1_shoulder_lift_joint.position",
|
| 14 |
+
"observation.arm1_shoulder_lift_joint.velocity",
|
| 15 |
+
"observation.arm1_shoulder_lift_joint.effort",
|
| 16 |
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| 697 |
+
"names": null
|
| 698 |
+
},
|
| 699 |
+
"observation.arm1_3f_palm_finger_c_joint.velocity": {
|
| 700 |
+
"dtype": "float32",
|
| 701 |
+
"shape": [],
|
| 702 |
+
"names": null
|
| 703 |
+
},
|
| 704 |
+
"observation.arm1_3f_palm_finger_c_joint.effort": {
|
| 705 |
+
"dtype": "float32",
|
| 706 |
+
"shape": [],
|
| 707 |
+
"names": null
|
| 708 |
+
},
|
| 709 |
+
"observation.arm1_3f_finger_a_joint_2.position": {
|
| 710 |
+
"dtype": "float32",
|
| 711 |
+
"shape": [],
|
| 712 |
+
"names": null
|
| 713 |
+
},
|
| 714 |
+
"observation.arm1_3f_finger_a_joint_2.velocity": {
|
| 715 |
+
"dtype": "float32",
|
| 716 |
+
"shape": [],
|
| 717 |
+
"names": null
|
| 718 |
+
},
|
| 719 |
+
"observation.arm1_3f_finger_a_joint_2.effort": {
|
| 720 |
+
"dtype": "float32",
|
| 721 |
+
"shape": [],
|
| 722 |
+
"names": null
|
| 723 |
+
},
|
| 724 |
+
"observation.arm2_wrist_1_joint.position": {
|
| 725 |
+
"dtype": "float32",
|
| 726 |
+
"shape": [],
|
| 727 |
+
"names": null
|
| 728 |
+
},
|
| 729 |
+
"observation.arm2_wrist_1_joint.velocity": {
|
| 730 |
+
"dtype": "float32",
|
| 731 |
+
"shape": [],
|
| 732 |
+
"names": null
|
| 733 |
+
},
|
| 734 |
+
"observation.arm2_wrist_1_joint.effort": {
|
| 735 |
+
"dtype": "float32",
|
| 736 |
+
"shape": [],
|
| 737 |
+
"names": null
|
| 738 |
+
},
|
| 739 |
+
"observation.state": {
|
| 740 |
+
"dtype": "float32",
|
| 741 |
+
"shape": [],
|
| 742 |
+
"names": null
|
| 743 |
+
},
|
| 744 |
+
"action": {
|
| 745 |
+
"dtype": "float32",
|
| 746 |
+
"shape": [],
|
| 747 |
+
"names": null
|
| 748 |
+
},
|
| 749 |
+
"observation.clock.clock": {
|
| 750 |
+
"dtype": "float32",
|
| 751 |
+
"shape": [],
|
| 752 |
+
"names": null
|
| 753 |
+
}
|
| 754 |
+
},
|
| 755 |
+
"n_joints": 34,
|
| 756 |
+
"joint_names": [
|
| 757 |
+
"arm1_shoulder_lift_joint",
|
| 758 |
+
"arm1_elbow_joint",
|
| 759 |
+
"arm1_wrist_1_joint",
|
| 760 |
+
"arm1_wrist_2_joint",
|
| 761 |
+
"arm2_wrist_3_joint",
|
| 762 |
+
"arm1_wrist_3_joint",
|
| 763 |
+
"arm2_3f_finger_b_joint_3",
|
| 764 |
+
"arm1_3f_finger_c_joint_3",
|
| 765 |
+
"arm2_3f_palm_finger_b_joint",
|
| 766 |
+
"arm2_3f_finger_c_joint_3",
|
| 767 |
+
"arm2_3f_palm_finger_c_joint",
|
| 768 |
+
"arm1_3f_finger_c_joint_2",
|
| 769 |
+
"arm2_3f_finger_a_joint_3",
|
| 770 |
+
"arm2_3f_finger_c_joint_2",
|
| 771 |
+
"arm1_3f_finger_b_joint_2",
|
| 772 |
+
"arm2_3f_finger_c_joint_1",
|
| 773 |
+
"arm2_wrist_2_joint",
|
| 774 |
+
"arm1_shoulder_pan_joint",
|
| 775 |
+
"arm1_3f_finger_c_joint_1",
|
| 776 |
+
"arm2_3f_finger_b_joint_1",
|
| 777 |
+
"arm2_shoulder_pan_joint",
|
| 778 |
+
"arm1_3f_finger_b_joint_3",
|
| 779 |
+
"arm1_3f_finger_b_joint_1",
|
| 780 |
+
"arm2_3f_finger_a_joint_2",
|
| 781 |
+
"arm1_3f_palm_finger_b_joint",
|
| 782 |
+
"arm1_3f_finger_a_joint_3",
|
| 783 |
+
"arm2_elbow_joint",
|
| 784 |
+
"arm1_3f_finger_a_joint_1",
|
| 785 |
+
"arm2_shoulder_lift_joint",
|
| 786 |
+
"arm2_3f_finger_b_joint_2",
|
| 787 |
+
"arm2_3f_finger_a_joint_1",
|
| 788 |
+
"arm1_3f_palm_finger_c_joint",
|
| 789 |
+
"arm1_3f_finger_a_joint_2",
|
| 790 |
+
"arm2_wrist_1_joint"
|
| 791 |
+
]
|
| 792 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"total_episodes": 1,
|
| 3 |
+
"total_frames": 310,
|
| 4 |
+
"total_duration": 30.90000009536743,
|
| 5 |
+
"fps": 10.0,
|
| 6 |
+
"n_joints": 34,
|
| 7 |
+
"joint_names": [
|
| 8 |
+
"arm1_shoulder_lift_joint",
|
| 9 |
+
"arm1_elbow_joint",
|
| 10 |
+
"arm1_wrist_1_joint",
|
| 11 |
+
"arm1_wrist_2_joint",
|
| 12 |
+
"arm2_wrist_3_joint",
|
| 13 |
+
"arm1_wrist_3_joint",
|
| 14 |
+
"arm2_3f_finger_b_joint_3",
|
| 15 |
+
"arm1_3f_finger_c_joint_3",
|
| 16 |
+
"arm2_3f_palm_finger_b_joint",
|
| 17 |
+
"arm2_3f_finger_c_joint_3",
|
| 18 |
+
"arm2_3f_palm_finger_c_joint",
|
| 19 |
+
"arm1_3f_finger_c_joint_2",
|
| 20 |
+
"arm2_3f_finger_a_joint_3",
|
| 21 |
+
"arm2_3f_finger_c_joint_2",
|
| 22 |
+
"arm1_3f_finger_b_joint_2",
|
| 23 |
+
"arm2_3f_finger_c_joint_1",
|
| 24 |
+
"arm2_wrist_2_joint",
|
| 25 |
+
"arm1_shoulder_pan_joint",
|
| 26 |
+
"arm1_3f_finger_c_joint_1",
|
| 27 |
+
"arm2_3f_finger_b_joint_1",
|
| 28 |
+
"arm2_shoulder_pan_joint",
|
| 29 |
+
"arm1_3f_finger_b_joint_3",
|
| 30 |
+
"arm1_3f_finger_b_joint_1",
|
| 31 |
+
"arm2_3f_finger_a_joint_2",
|
| 32 |
+
"arm1_3f_palm_finger_b_joint",
|
| 33 |
+
"arm1_3f_finger_a_joint_3",
|
| 34 |
+
"arm2_elbow_joint",
|
| 35 |
+
"arm1_3f_finger_a_joint_1",
|
| 36 |
+
"arm2_shoulder_lift_joint",
|
| 37 |
+
"arm2_3f_finger_b_joint_2",
|
| 38 |
+
"arm2_3f_finger_a_joint_1",
|
| 39 |
+
"arm1_3f_palm_finger_c_joint",
|
| 40 |
+
"arm1_3f_finger_a_joint_2",
|
| 41 |
+
"arm2_wrist_1_joint"
|
| 42 |
+
]
|
| 43 |
+
}
|
meta/tasks.json
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"task_index": 0,
|
| 4 |
+
"task_name": "robot_manipulation",
|
| 5 |
+
"task_description": "Dual arm robot manipulation task",
|
| 6 |
+
"success_criteria": "Task completion based on joint positions"
|
| 7 |
+
}
|
| 8 |
+
]
|