Hugging Face's logo

Datasets:
Sraghvi
/
subset-0-complete-pipeline

Modalities:
Tabular
Formats:
parquet
Size:
1K - 10K
Libraries:
Datasets
pandas
Dataset card Data Studio Files
xet
 Community
Sraghvi commited on
Commit
58a584a
·
verified ·
1 Parent(s): 3706baa

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. meta/episodes.json +3 -4
  2. meta/info.json +124 -779
  3. meta/stats.json +4 -40
  4. meta/tasks.json +1 -2
meta/episodes.json CHANGED
@@ -2,9 +2,8 @@
2
  {
3
  "episode_index": 0,
4
  "start_frame_index": 0,
5
- "end_frame_index": 309,
6
- "start_timestamp": 0.0,
7
- "end_timestamp": 30.90000009536743,
8
- "duration": 30.90000009536743
9
  }
10
  ]
 
2
  {
3
  "episode_index": 0,
4
  "start_frame_index": 0,
5
+ "end_frame_index": 3104,
6
+ "total_frames": 3105,
7
+ "duration": 31.040019750595093
 
8
  }
9
  ]
meta/info.json CHANGED
@@ -1,792 +1,137 @@
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
- "observation.arm1_elbow_joint.position",
17
- "observation.arm1_elbow_joint.velocity",
18
- "observation.arm1_elbow_joint.effort",
19
- "observation.arm1_wrist_1_joint.position",
20
- "observation.arm1_wrist_1_joint.velocity",
21
- "observation.arm1_wrist_1_joint.effort",
22
- "observation.arm1_wrist_2_joint.position",
23
- "observation.arm1_wrist_2_joint.velocity",
24
- "observation.arm1_wrist_2_joint.effort",
25
- "observation.arm2_wrist_3_joint.position",
26
- "observation.arm2_wrist_3_joint.velocity",
27
- "observation.arm2_wrist_3_joint.effort",
28
- "observation.arm1_wrist_3_joint.position",
29
- "observation.arm1_wrist_3_joint.velocity",
30
- "observation.arm1_wrist_3_joint.effort",
31
- "observation.arm2_3f_finger_b_joint_3.position",
32
- "observation.arm2_3f_finger_b_joint_3.velocity",
33
- "observation.arm2_3f_finger_b_joint_3.effort",
34
- "observation.arm1_3f_finger_c_joint_3.position",
35
- "observation.arm1_3f_finger_c_joint_3.velocity",
36
- "observation.arm1_3f_finger_c_joint_3.effort",
37
- "observation.arm2_3f_palm_finger_b_joint.position",
38
- "observation.arm2_3f_palm_finger_b_joint.velocity",
39
- "observation.arm2_3f_palm_finger_b_joint.effort",
40
- "observation.arm2_3f_finger_c_joint_3.position",
41
- "observation.arm2_3f_finger_c_joint_3.velocity",
42
- "observation.arm2_3f_finger_c_joint_3.effort",
43
- "observation.arm2_3f_palm_finger_c_joint.position",
44
- "observation.arm2_3f_palm_finger_c_joint.velocity",
45
- "observation.arm2_3f_palm_finger_c_joint.effort",
46
- "observation.arm1_3f_finger_c_joint_2.position",
47
- "observation.arm1_3f_finger_c_joint_2.velocity",
48
- "observation.arm1_3f_finger_c_joint_2.effort",
49
- "observation.arm2_3f_finger_a_joint_3.position",
50
- "observation.arm2_3f_finger_a_joint_3.velocity",
51
- "observation.arm2_3f_finger_a_joint_3.effort",
52
- "observation.arm2_3f_finger_c_joint_2.position",
53
- "observation.arm2_3f_finger_c_joint_2.velocity",
54
- "observation.arm2_3f_finger_c_joint_2.effort",
55
- "observation.arm1_3f_finger_b_joint_2.position",
56
- "observation.arm1_3f_finger_b_joint_2.velocity",
57
- "observation.arm1_3f_finger_b_joint_2.effort",
58
- "observation.arm2_3f_finger_c_joint_1.position",
59
- "observation.arm2_3f_finger_c_joint_1.velocity",
60
- "observation.arm2_3f_finger_c_joint_1.effort",
61
- "observation.arm2_wrist_2_joint.position",
62
- "observation.arm2_wrist_2_joint.velocity",
63
- "observation.arm2_wrist_2_joint.effort",
64
- "observation.arm1_shoulder_pan_joint.position",
65
- "observation.arm1_shoulder_pan_joint.velocity",
66
- "observation.arm1_shoulder_pan_joint.effort",
67
- "observation.arm1_3f_finger_c_joint_1.position",
68
- "observation.arm1_3f_finger_c_joint_1.velocity",
69
- "observation.arm1_3f_finger_c_joint_1.effort",
70
- "observation.arm2_3f_finger_b_joint_1.position",
71
- "observation.arm2_3f_finger_b_joint_1.velocity",
72
- "observation.arm2_3f_finger_b_joint_1.effort",
73
- "observation.arm2_shoulder_pan_joint.position",
74
- "observation.arm2_shoulder_pan_joint.velocity",
75
- "observation.arm2_shoulder_pan_joint.effort",
76
- "observation.arm1_3f_finger_b_joint_3.position",
77
- "observation.arm1_3f_finger_b_joint_3.velocity",
78
- "observation.arm1_3f_finger_b_joint_3.effort",
79
- "observation.arm1_3f_finger_b_joint_1.position",
80
- "observation.arm1_3f_finger_b_joint_1.velocity",
81
- "observation.arm1_3f_finger_b_joint_1.effort",
82
- "observation.arm2_3f_finger_a_joint_2.position",
83
- "observation.arm2_3f_finger_a_joint_2.velocity",
84
- "observation.arm2_3f_finger_a_joint_2.effort",
85
- "observation.arm1_3f_palm_finger_b_joint.position",
86
- "observation.arm1_3f_palm_finger_b_joint.velocity",
87
- "observation.arm1_3f_palm_finger_b_joint.effort",
88
- "observation.arm1_3f_finger_a_joint_3.position",
89
- "observation.arm1_3f_finger_a_joint_3.velocity",
90
- "observation.arm1_3f_finger_a_joint_3.effort",
91
- "observation.arm2_elbow_joint.position",
92
- "observation.arm2_elbow_joint.velocity",
93
- "observation.arm2_elbow_joint.effort",
94
- "observation.arm1_3f_finger_a_joint_1.position",
95
- "observation.arm1_3f_finger_a_joint_1.velocity",
96
- "observation.arm1_3f_finger_a_joint_1.effort",
97
- "observation.arm2_shoulder_lift_joint.position",
98
- "observation.arm2_shoulder_lift_joint.velocity",
99
- "observation.arm2_shoulder_lift_joint.effort",
100
- "observation.arm2_3f_finger_b_joint_2.position",
101
- "observation.arm2_3f_finger_b_joint_2.velocity",
102
- "observation.arm2_3f_finger_b_joint_2.effort",
103
- "observation.arm2_3f_finger_a_joint_1.position",
104
- "observation.arm2_3f_finger_a_joint_1.velocity",
105
- "observation.arm2_3f_finger_a_joint_1.effort",
106
- "observation.arm1_3f_palm_finger_c_joint.position",
107
- "observation.arm1_3f_palm_finger_c_joint.velocity",
108
- "observation.arm1_3f_palm_finger_c_joint.effort",
109
- "observation.arm1_3f_finger_a_joint_2.position",
110
- "observation.arm1_3f_finger_a_joint_2.velocity",
111
- "observation.arm1_3f_finger_a_joint_2.effort",
112
- "observation.arm2_wrist_1_joint.position",
113
- "observation.arm2_wrist_1_joint.velocity",
114
- "observation.arm2_wrist_1_joint.effort",
115
- "observation.state",
116
- "action",
117
- "observation.clock.clock"
118
- ],
119
- "shapes": {
120
- "observation.arm1_shoulder_lift_joint.position": [],
121
- "observation.arm1_shoulder_lift_joint.velocity": [],
122
- "observation.arm1_shoulder_lift_joint.effort": [],
123
- "observation.arm1_elbow_joint.position": [],
124
- "observation.arm1_elbow_joint.velocity": [],
125
- "observation.arm1_elbow_joint.effort": [],
126
- "observation.arm1_wrist_1_joint.position": [],
127
- "observation.arm1_wrist_1_joint.velocity": [],
128
- "observation.arm1_wrist_1_joint.effort": [],
129
- "observation.arm1_wrist_2_joint.position": [],
130
- "observation.arm1_wrist_2_joint.velocity": [],
131
- "observation.arm1_wrist_2_joint.effort": [],
132
- "observation.arm2_wrist_3_joint.position": [],
133
- "observation.arm2_wrist_3_joint.velocity": [],
134
- "observation.arm2_wrist_3_joint.effort": [],
135
- "observation.arm1_wrist_3_joint.position": [],
136
- "observation.arm1_wrist_3_joint.velocity": [],
137
- "observation.arm1_wrist_3_joint.effort": [],
138
- "observation.arm2_3f_finger_b_joint_3.position": [],
139
- "observation.arm2_3f_finger_b_joint_3.velocity": [],
140
- "observation.arm2_3f_finger_b_joint_3.effort": [],
141
- "observation.arm1_3f_finger_c_joint_3.position": [],
142
- "observation.arm1_3f_finger_c_joint_3.velocity": [],
143
- "observation.arm1_3f_finger_c_joint_3.effort": [],
144
- "observation.arm2_3f_palm_finger_b_joint.position": [],
145
- "observation.arm2_3f_palm_finger_b_joint.velocity": [],
146
- "observation.arm2_3f_palm_finger_b_joint.effort": [],
147
- "observation.arm2_3f_finger_c_joint_3.position": [],
148
- "observation.arm2_3f_finger_c_joint_3.velocity": [],
149
- "observation.arm2_3f_finger_c_joint_3.effort": [],
150
- "observation.arm2_3f_palm_finger_c_joint.position": [],
151
- "observation.arm2_3f_palm_finger_c_joint.velocity": [],
152
- "observation.arm2_3f_palm_finger_c_joint.effort": [],
153
- "observation.arm1_3f_finger_c_joint_2.position": [],
154
- "observation.arm1_3f_finger_c_joint_2.velocity": [],
155
- "observation.arm1_3f_finger_c_joint_2.effort": [],
156
- "observation.arm2_3f_finger_a_joint_3.position": [],
157
- "observation.arm2_3f_finger_a_joint_3.velocity": [],
158
- "observation.arm2_3f_finger_a_joint_3.effort": [],
159
- "observation.arm2_3f_finger_c_joint_2.position": [],
160
- "observation.arm2_3f_finger_c_joint_2.velocity": [],
161
- "observation.arm2_3f_finger_c_joint_2.effort": [],
162
- "observation.arm1_3f_finger_b_joint_2.position": [],
163
- "observation.arm1_3f_finger_b_joint_2.velocity": [],
164
- "observation.arm1_3f_finger_b_joint_2.effort": [],
165
- "observation.arm2_3f_finger_c_joint_1.position": [],
166
- "observation.arm2_3f_finger_c_joint_1.velocity": [],
167
- "observation.arm2_3f_finger_c_joint_1.effort": [],
168
- "observation.arm2_wrist_2_joint.position": [],
169
- "observation.arm2_wrist_2_joint.velocity": [],
170
- "observation.arm2_wrist_2_joint.effort": [],
171
- "observation.arm1_shoulder_pan_joint.position": [],
172
- "observation.arm1_shoulder_pan_joint.velocity": [],
173
- "observation.arm1_shoulder_pan_joint.effort": [],
174
- "observation.arm1_3f_finger_c_joint_1.position": [],
175
- "observation.arm1_3f_finger_c_joint_1.velocity": [],
176
- "observation.arm1_3f_finger_c_joint_1.effort": [],
177
- "observation.arm2_3f_finger_b_joint_1.position": [],
178
- "observation.arm2_3f_finger_b_joint_1.velocity": [],
179
- "observation.arm2_3f_finger_b_joint_1.effort": [],
180
- "observation.arm2_shoulder_pan_joint.position": [],
181
- "observation.arm2_shoulder_pan_joint.velocity": [],
182
- "observation.arm2_shoulder_pan_joint.effort": [],
183
- "observation.arm1_3f_finger_b_joint_3.position": [],
184
- "observation.arm1_3f_finger_b_joint_3.velocity": [],
185
- "observation.arm1_3f_finger_b_joint_3.effort": [],
186
- "observation.arm1_3f_finger_b_joint_1.position": [],
187
- "observation.arm1_3f_finger_b_joint_1.velocity": [],
188
- "observation.arm1_3f_finger_b_joint_1.effort": [],
189
- "observation.arm2_3f_finger_a_joint_2.position": [],
190
- "observation.arm2_3f_finger_a_joint_2.velocity": [],
191
- "observation.arm2_3f_finger_a_joint_2.effort": [],
192
- "observation.arm1_3f_palm_finger_b_joint.position": [],
193
- "observation.arm1_3f_palm_finger_b_joint.velocity": [],
194
- "observation.arm1_3f_palm_finger_b_joint.effort": [],
195
- "observation.arm1_3f_finger_a_joint_3.position": [],
196
- "observation.arm1_3f_finger_a_joint_3.velocity": [],
197
- "observation.arm1_3f_finger_a_joint_3.effort": [],
198
- "observation.arm2_elbow_joint.position": [],
199
- "observation.arm2_elbow_joint.velocity": [],
200
- "observation.arm2_elbow_joint.effort": [],
201
- "observation.arm1_3f_finger_a_joint_1.position": [],
202
- "observation.arm1_3f_finger_a_joint_1.velocity": [],
203
- "observation.arm1_3f_finger_a_joint_1.effort": [],
204
- "observation.arm2_shoulder_lift_joint.position": [],
205
- "observation.arm2_shoulder_lift_joint.velocity": [],
206
- "observation.arm2_shoulder_lift_joint.effort": [],
207
- "observation.arm2_3f_finger_b_joint_2.position": [],
208
- "observation.arm2_3f_finger_b_joint_2.velocity": [],
209
- "observation.arm2_3f_finger_b_joint_2.effort": [],
210
- "observation.arm2_3f_finger_a_joint_1.position": [],
211
- "observation.arm2_3f_finger_a_joint_1.velocity": [],
212
- "observation.arm2_3f_finger_a_joint_1.effort": [],
213
- "observation.arm1_3f_palm_finger_c_joint.position": [],
214
- "observation.arm1_3f_palm_finger_c_joint.velocity": [],
215
- "observation.arm1_3f_palm_finger_c_joint.effort": [],
216
- "observation.arm1_3f_finger_a_joint_2.position": [],
217
- "observation.arm1_3f_finger_a_joint_2.velocity": [],
218
- "observation.arm1_3f_finger_a_joint_2.effort": [],
219
- "observation.arm2_wrist_1_joint.position": [],
220
- "observation.arm2_wrist_1_joint.velocity": [],
221
- "observation.arm2_wrist_1_joint.effort": [],
222
- "observation.state": [],
223
- "action": [],
224
- "observation.clock.clock": []
225
- },
226
- "names": null,
227
- "videos": null,
228
  "features": {
229
- "observation.arm1_shoulder_lift_joint.position": {
230
- "dtype": "float32",
231
- "shape": [],
232
- "names": null
233
- },
234
- "observation.arm1_shoulder_lift_joint.velocity": {
235
- "dtype": "float32",
236
- "shape": [],
237
- "names": null
238
- },
239
- "observation.arm1_shoulder_lift_joint.effort": {
240
- "dtype": "float32",
241
- "shape": [],
242
- "names": null
243
- },
244
- "observation.arm1_elbow_joint.position": {
245
- "dtype": "float32",
246
- "shape": [],
247
- "names": null
248
- },
249
- "observation.arm1_elbow_joint.velocity": {
250
- "dtype": "float32",
251
- "shape": [],
252
- "names": null
253
- },
254
- "observation.arm1_elbow_joint.effort": {
255
- "dtype": "float32",
256
- "shape": [],
257
- "names": null
258
- },
259
- "observation.arm1_wrist_1_joint.position": {
260
- "dtype": "float32",
261
- "shape": [],
262
- "names": null
263
- },
264
- "observation.arm1_wrist_1_joint.velocity": {
265
- "dtype": "float32",
266
- "shape": [],
267
- "names": null
268
- },
269
- "observation.arm1_wrist_1_joint.effort": {
270
- "dtype": "float32",
271
- "shape": [],
272
- "names": null
273
- },
274
- "observation.arm1_wrist_2_joint.position": {
275
- "dtype": "float32",
276
- "shape": [],
277
- "names": null
278
- },
279
- "observation.arm1_wrist_2_joint.velocity": {
280
- "dtype": "float32",
281
- "shape": [],
282
- "names": null
283
- },
284
- "observation.arm1_wrist_2_joint.effort": {
285
- "dtype": "float32",
286
- "shape": [],
287
- "names": null
288
- },
289
- "observation.arm2_wrist_3_joint.position": {
290
- "dtype": "float32",
291
- "shape": [],
292
- "names": null
293
- },
294
- "observation.arm2_wrist_3_joint.velocity": {
295
- "dtype": "float32",
296
- "shape": [],
297
- "names": null
298
- },
299
- "observation.arm2_wrist_3_joint.effort": {
300
- "dtype": "float32",
301
- "shape": [],
302
- "names": null
303
- },
304
- "observation.arm1_wrist_3_joint.position": {
305
- "dtype": "float32",
306
- "shape": [],
307
- "names": null
308
- },
309
- "observation.arm1_wrist_3_joint.velocity": {
310
- "dtype": "float32",
311
- "shape": [],
312
- "names": null
313
- },
314
- "observation.arm1_wrist_3_joint.effort": {
315
- "dtype": "float32",
316
- "shape": [],
317
- "names": null
318
- },
319
- "observation.arm2_3f_finger_b_joint_3.position": {
320
- "dtype": "float32",
321
- "shape": [],
322
- "names": null
323
- },
324
- "observation.arm2_3f_finger_b_joint_3.velocity": {
325
- "dtype": "float32",
326
- "shape": [],
327
- "names": null
328
- },
329
- "observation.arm2_3f_finger_b_joint_3.effort": {
330
- "dtype": "float32",
331
- "shape": [],
332
- "names": null
333
- },
334
- "observation.arm1_3f_finger_c_joint_3.position": {
335
- "dtype": "float32",
336
- "shape": [],
337
- "names": null
338
- },
339
- "observation.arm1_3f_finger_c_joint_3.velocity": {
340
- "dtype": "float32",
341
- "shape": [],
342
- "names": null
343
- },
344
- "observation.arm1_3f_finger_c_joint_3.effort": {
345
- "dtype": "float32",
346
- "shape": [],
347
- "names": null
348
- },
349
- "observation.arm2_3f_palm_finger_b_joint.position": {
350
- "dtype": "float32",
351
- "shape": [],
352
- "names": null
353
- },
354
- "observation.arm2_3f_palm_finger_b_joint.velocity": {
355
- "dtype": "float32",
356
- "shape": [],
357
- "names": null
358
- },
359
- "observation.arm2_3f_palm_finger_b_joint.effort": {
360
- "dtype": "float32",
361
- "shape": [],
362
- "names": null
363
- },
364
- "observation.arm2_3f_finger_c_joint_3.position": {
365
- "dtype": "float32",
366
- "shape": [],
367
- "names": null
368
- },
369
- "observation.arm2_3f_finger_c_joint_3.velocity": {
370
- "dtype": "float32",
371
- "shape": [],
372
- "names": null
373
- },
374
- "observation.arm2_3f_finger_c_joint_3.effort": {
375
- "dtype": "float32",
376
- "shape": [],
377
- "names": null
378
- },
379
- "observation.arm2_3f_palm_finger_c_joint.position": {
380
- "dtype": "float32",
381
- "shape": [],
382
- "names": null
383
- },
384
- "observation.arm2_3f_palm_finger_c_joint.velocity": {
385
- "dtype": "float32",
386
- "shape": [],
387
- "names": null
388
- },
389
- "observation.arm2_3f_palm_finger_c_joint.effort": {
390
- "dtype": "float32",
391
- "shape": [],
392
- "names": null
393
- },
394
- "observation.arm1_3f_finger_c_joint_2.position": {
395
- "dtype": "float32",
396
- "shape": [],
397
- "names": null
398
- },
399
- "observation.arm1_3f_finger_c_joint_2.velocity": {
400
- "dtype": "float32",
401
- "shape": [],
402
- "names": null
403
- },
404
- "observation.arm1_3f_finger_c_joint_2.effort": {
405
- "dtype": "float32",
406
- "shape": [],
407
- "names": null
408
- },
409
- "observation.arm2_3f_finger_a_joint_3.position": {
410
- "dtype": "float32",
411
- "shape": [],
412
- "names": null
413
- },
414
- "observation.arm2_3f_finger_a_joint_3.velocity": {
415
- "dtype": "float32",
416
- "shape": [],
417
- "names": null
418
- },
419
- "observation.arm2_3f_finger_a_joint_3.effort": {
420
- "dtype": "float32",
421
- "shape": [],
422
- "names": null
423
- },
424
- "observation.arm2_3f_finger_c_joint_2.position": {
425
- "dtype": "float32",
426
- "shape": [],
427
- "names": null
428
- },
429
- "observation.arm2_3f_finger_c_joint_2.velocity": {
430
- "dtype": "float32",
431
- "shape": [],
432
- "names": null
433
- },
434
- "observation.arm2_3f_finger_c_joint_2.effort": {
435
- "dtype": "float32",
436
- "shape": [],
437
- "names": null
438
- },
439
- "observation.arm1_3f_finger_b_joint_2.position": {
440
- "dtype": "float32",
441
- "shape": [],
442
- "names": null
443
- },
444
- "observation.arm1_3f_finger_b_joint_2.velocity": {
445
- "dtype": "float32",
446
- "shape": [],
447
- "names": null
448
- },
449
- "observation.arm1_3f_finger_b_joint_2.effort": {
450
- "dtype": "float32",
451
- "shape": [],
452
- "names": null
453
- },
454
- "observation.arm2_3f_finger_c_joint_1.position": {
455
- "dtype": "float32",
456
- "shape": [],
457
- "names": null
458
- },
459
- "observation.arm2_3f_finger_c_joint_1.velocity": {
460
- "dtype": "float32",
461
- "shape": [],
462
- "names": null
463
- },
464
- "observation.arm2_3f_finger_c_joint_1.effort": {
465
- "dtype": "float32",
466
- "shape": [],
467
- "names": null
468
- },
469
- "observation.arm2_wrist_2_joint.position": {
470
- "dtype": "float32",
471
- "shape": [],
472
- "names": null
473
- },
474
- "observation.arm2_wrist_2_joint.velocity": {
475
- "dtype": "float32",
476
- "shape": [],
477
- "names": null
478
- },
479
- "observation.arm2_wrist_2_joint.effort": {
480
- "dtype": "float32",
481
- "shape": [],
482
- "names": null
483
- },
484
- "observation.arm1_shoulder_pan_joint.position": {
485
- "dtype": "float32",
486
- "shape": [],
487
- "names": null
488
- },
489
- "observation.arm1_shoulder_pan_joint.velocity": {
490
- "dtype": "float32",
491
- "shape": [],
492
- "names": null
493
- },
494
- "observation.arm1_shoulder_pan_joint.effort": {
495
- "dtype": "float32",
496
- "shape": [],
497
- "names": null
498
- },
499
- "observation.arm1_3f_finger_c_joint_1.position": {
500
- "dtype": "float32",
501
- "shape": [],
502
- "names": null
503
- },
504
- "observation.arm1_3f_finger_c_joint_1.velocity": {
505
- "dtype": "float32",
506
- "shape": [],
507
- "names": null
508
- },
509
- "observation.arm1_3f_finger_c_joint_1.effort": {
510
- "dtype": "float32",
511
- "shape": [],
512
- "names": null
513
- },
514
- "observation.arm2_3f_finger_b_joint_1.position": {
515
- "dtype": "float32",
516
- "shape": [],
517
- "names": null
518
- },
519
- "observation.arm2_3f_finger_b_joint_1.velocity": {
520
- "dtype": "float32",
521
- "shape": [],
522
- "names": null
523
- },
524
- "observation.arm2_3f_finger_b_joint_1.effort": {
525
- "dtype": "float32",
526
- "shape": [],
527
- "names": null
528
- },
529
- "observation.arm2_shoulder_pan_joint.position": {
530
- "dtype": "float32",
531
- "shape": [],
532
- "names": null
533
- },
534
- "observation.arm2_shoulder_pan_joint.velocity": {
535
- "dtype": "float32",
536
- "shape": [],
537
- "names": null
538
- },
539
- "observation.arm2_shoulder_pan_joint.effort": {
540
- "dtype": "float32",
541
- "shape": [],
542
- "names": null
543
- },
544
- "observation.arm1_3f_finger_b_joint_3.position": {
545
- "dtype": "float32",
546
- "shape": [],
547
- "names": null
548
- },
549
- "observation.arm1_3f_finger_b_joint_3.velocity": {
550
- "dtype": "float32",
551
- "shape": [],
552
- "names": null
553
- },
554
- "observation.arm1_3f_finger_b_joint_3.effort": {
555
- "dtype": "float32",
556
- "shape": [],
557
- "names": null
558
- },
559
- "observation.arm1_3f_finger_b_joint_1.position": {
560
- "dtype": "float32",
561
- "shape": [],
562
- "names": null
563
- },
564
- "observation.arm1_3f_finger_b_joint_1.velocity": {
565
- "dtype": "float32",
566
- "shape": [],
567
- "names": null
568
- },
569
- "observation.arm1_3f_finger_b_joint_1.effort": {
570
- "dtype": "float32",
571
- "shape": [],
572
- "names": null
573
- },
574
- "observation.arm2_3f_finger_a_joint_2.position": {
575
- "dtype": "float32",
576
- "shape": [],
577
- "names": null
578
- },
579
- "observation.arm2_3f_finger_a_joint_2.velocity": {
580
- "dtype": "float32",
581
- "shape": [],
582
- "names": null
583
- },
584
- "observation.arm2_3f_finger_a_joint_2.effort": {
585
- "dtype": "float32",
586
- "shape": [],
587
- "names": null
588
- },
589
- "observation.arm1_3f_palm_finger_b_joint.position": {
590
- "dtype": "float32",
591
- "shape": [],
592
- "names": null
593
- },
594
- "observation.arm1_3f_palm_finger_b_joint.velocity": {
595
- "dtype": "float32",
596
- "shape": [],
597
- "names": null
598
- },
599
- "observation.arm1_3f_palm_finger_b_joint.effort": {
600
- "dtype": "float32",
601
- "shape": [],
602
- "names": null
603
- },
604
- "observation.arm1_3f_finger_a_joint_3.position": {
605
- "dtype": "float32",
606
- "shape": [],
607
- "names": null
608
- },
609
- "observation.arm1_3f_finger_a_joint_3.velocity": {
610
- "dtype": "float32",
611
- "shape": [],
612
- "names": null
613
- },
614
- "observation.arm1_3f_finger_a_joint_3.effort": {
615
- "dtype": "float32",
616
- "shape": [],
617
- "names": null
618
- },
619
- "observation.arm2_elbow_joint.position": {
620
- "dtype": "float32",
621
- "shape": [],
622
- "names": null
623
- },
624
- "observation.arm2_elbow_joint.velocity": {
625
- "dtype": "float32",
626
- "shape": [],
627
- "names": null
628
- },
629
- "observation.arm2_elbow_joint.effort": {
630
- "dtype": "float32",
631
- "shape": [],
632
- "names": null
633
- },
634
- "observation.arm1_3f_finger_a_joint_1.position": {
635
- "dtype": "float32",
636
- "shape": [],
637
- "names": null
638
- },
639
- "observation.arm1_3f_finger_a_joint_1.velocity": {
640
- "dtype": "float32",
641
- "shape": [],
642
- "names": null
643
- },
644
- "observation.arm1_3f_finger_a_joint_1.effort": {
645
- "dtype": "float32",
646
- "shape": [],
647
- "names": null
648
- },
649
- "observation.arm2_shoulder_lift_joint.position": {
650
- "dtype": "float32",
651
- "shape": [],
652
- "names": null
653
- },
654
- "observation.arm2_shoulder_lift_joint.velocity": {
655
- "dtype": "float32",
656
- "shape": [],
657
- "names": null
658
- },
659
- "observation.arm2_shoulder_lift_joint.effort": {
660
- "dtype": "float32",
661
- "shape": [],
662
- "names": null
663
- },
664
- "observation.arm2_3f_finger_b_joint_2.position": {
665
- "dtype": "float32",
666
- "shape": [],
667
- "names": null
668
- },
669
- "observation.arm2_3f_finger_b_joint_2.velocity": {
670
- "dtype": "float32",
671
- "shape": [],
672
- "names": null
673
- },
674
- "observation.arm2_3f_finger_b_joint_2.effort": {
675
- "dtype": "float32",
676
- "shape": [],
677
- "names": null
678
- },
679
- "observation.arm2_3f_finger_a_joint_1.position": {
680
- "dtype": "float32",
681
- "shape": [],
682
- "names": null
683
- },
684
- "observation.arm2_3f_finger_a_joint_1.velocity": {
685
- "dtype": "float32",
686
- "shape": [],
687
- "names": null
688
- },
689
- "observation.arm2_3f_finger_a_joint_1.effort": {
690
- "dtype": "float32",
691
- "shape": [],
692
- "names": null
693
- },
694
- "observation.arm1_3f_palm_finger_c_joint.position": {
695
- "dtype": "float32",
696
- "shape": [],
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
  }
 
1
  {
2
  "codebase_version": "v2.1",
3
  "robot_type": "dual_arm_robot",
4
+ "total_episodes": 1,
5
+ "total_frames": 3105,
6
+ "total_tasks": 1,
7
+ "total_videos": 0,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30.0,
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
  "action": {
18
  "dtype": "float32",
19
+ "shape": [
20
+ 34
21
+ ],
22
+ "names": [
23
+ "arm1_shoulder_lift_joint.pos",
24
+ "arm1_elbow_joint.pos",
25
+ "arm1_wrist_1_joint.pos",
26
+ "arm1_wrist_2_joint.pos",
27
+ "arm2_wrist_3_joint.pos",
28
+ "arm1_wrist_3_joint.pos",
29
+ "arm2_3f_finger_b_joint_3.pos",
30
+ "arm1_3f_finger_c_joint_3.pos",
31
+ "arm2_3f_palm_finger_b_joint.pos",
32
+ "arm2_3f_finger_c_joint_3.pos",
33
+ "arm2_3f_palm_finger_c_joint.pos",
34
+ "arm1_3f_finger_c_joint_2.pos",
35
+ "arm2_3f_finger_a_joint_3.pos",
36
+ "arm2_3f_finger_c_joint_2.pos",
37
+ "arm1_3f_finger_b_joint_2.pos",
38
+ "arm2_3f_finger_c_joint_1.pos",
39
+ "arm2_wrist_2_joint.pos",
40
+ "arm1_shoulder_pan_joint.pos",
41
+ "arm1_3f_finger_c_joint_1.pos",
42
+ "arm2_3f_finger_b_joint_1.pos",
43
+ "arm2_shoulder_pan_joint.pos",
44
+ "arm1_3f_finger_b_joint_3.pos",
45
+ "arm1_3f_finger_b_joint_1.pos",
46
+ "arm2_3f_finger_a_joint_2.pos",
47
+ "arm1_3f_palm_finger_b_joint.pos",
48
+ "arm1_3f_finger_a_joint_3.pos",
49
+ "arm2_elbow_joint.pos",
50
+ "arm1_3f_finger_a_joint_1.pos",
51
+ "arm2_shoulder_lift_joint.pos",
52
+ "arm2_3f_finger_b_joint_2.pos",
53
+ "arm2_3f_finger_a_joint_1.pos",
54
+ "arm1_3f_palm_finger_c_joint.pos",
55
+ "arm1_3f_finger_a_joint_2.pos",
56
+ "arm2_wrist_1_joint.pos"
57
+ ]
58
  },
59
+ "observation.state": {
60
  "dtype": "float32",
61
+ "shape": [
62
+ 34
63
+ ],
64
+ "names": [
65
+ "arm1_shoulder_lift_joint.pos",
66
+ "arm1_elbow_joint.pos",
67
+ "arm1_wrist_1_joint.pos",
68
+ "arm1_wrist_2_joint.pos",
69
+ "arm2_wrist_3_joint.pos",
70
+ "arm1_wrist_3_joint.pos",
71
+ "arm2_3f_finger_b_joint_3.pos",
72
+ "arm1_3f_finger_c_joint_3.pos",
73
+ "arm2_3f_palm_finger_b_joint.pos",
74
+ "arm2_3f_finger_c_joint_3.pos",
75
+ "arm2_3f_palm_finger_c_joint.pos",
76
+ "arm1_3f_finger_c_joint_2.pos",
77
+ "arm2_3f_finger_a_joint_3.pos",
78
+ "arm2_3f_finger_c_joint_2.pos",
79
+ "arm1_3f_finger_b_joint_2.pos",
80
+ "arm2_3f_finger_c_joint_1.pos",
81
+ "arm2_wrist_2_joint.pos",
82
+ "arm1_shoulder_pan_joint.pos",
83
+ "arm1_3f_finger_c_joint_1.pos",
84
+ "arm2_3f_finger_b_joint_1.pos",
85
+ "arm2_shoulder_pan_joint.pos",
86
+ "arm1_3f_finger_b_joint_3.pos",
87
+ "arm1_3f_finger_b_joint_1.pos",
88
+ "arm2_3f_finger_a_joint_2.pos",
89
+ "arm1_3f_palm_finger_b_joint.pos",
90
+ "arm1_3f_finger_a_joint_3.pos",
91
+ "arm2_elbow_joint.pos",
92
+ "arm1_3f_finger_a_joint_1.pos",
93
+ "arm2_shoulder_lift_joint.pos",
94
+ "arm2_3f_finger_b_joint_2.pos",
95
+ "arm2_3f_finger_a_joint_1.pos",
96
+ "arm1_3f_palm_finger_c_joint.pos",
97
+ "arm1_3f_finger_a_joint_2.pos",
98
+ "arm2_wrist_1_joint.pos"
99
+ ]
100
+ },
101
+ "timestamp": {
102
+ "dtype": "float32",
103
+ "shape": [
104
+ 1
105
+ ],
106
+ "names": null
107
+ },
108
+ "frame_index": {
109
+ "dtype": "int64",
110
+ "shape": [
111
+ 1
112
+ ],
113
+ "names": null
114
+ },
115
+ "episode_index": {
116
+ "dtype": "int64",
117
+ "shape": [
118
+ 1
119
+ ],
120
+ "names": null
121
+ },
122
+ "index": {
123
+ "dtype": "int64",
124
+ "shape": [
125
+ 1
126
+ ],
127
+ "names": null
128
+ },
129
+ "task_index": {
130
+ "dtype": "int64",
131
+ "shape": [
132
+ 1
133
+ ],
134
  "names": null
135
  }
136
+ }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
137
  }
meta/stats.json CHANGED
@@ -1,43 +1,7 @@
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
  }
 
1
  {
2
  "total_episodes": 1,
3
+ "total_frames": 3105,
4
+ "total_duration": 31.040019750595093,
5
+ "fps": 30.0,
6
+ "robot_type": "dual_arm_robot"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
7
  }
meta/tasks.json CHANGED
@@ -2,7 +2,6 @@
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
  ]
 
2
  {
3
  "task_index": 0,
4
  "task_name": "robot_manipulation",
5
+ "description": "Dual arm robot manipulation task"
 
6
  }
7
  ]