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 +685 -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.
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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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| 5 |
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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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| 8 |
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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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@@ -0,0 +1,685 @@
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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 |
+
"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",
|
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|
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|
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|
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|
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|
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|
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|
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|
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| 510 |
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|
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|
| 513 |
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|
| 514 |
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| 515 |
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| 516 |
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|
| 518 |
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|
| 519 |
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|
| 520 |
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|
| 521 |
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|
| 522 |
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|
| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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| 529 |
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|
| 539 |
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|
| 540 |
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|
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|
| 543 |
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|
| 544 |
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|
| 545 |
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|
| 546 |
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|
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|
| 548 |
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|
| 549 |
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|
| 550 |
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| 551 |
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|
| 553 |
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| 554 |
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| 555 |
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|
| 556 |
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|
| 558 |
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| 559 |
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| 560 |
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|
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| 563 |
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|
| 564 |
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| 565 |
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| 566 |
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| 568 |
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|
| 569 |
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| 570 |
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|
| 571 |
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| 572 |
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| 573 |
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|
| 574 |
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|
| 575 |
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|
| 576 |
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|
| 578 |
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|
| 579 |
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|
| 580 |
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|
| 581 |
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|
| 582 |
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|
| 583 |
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|
| 584 |
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|
| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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"dtype": "float32",
|
| 589 |
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"shape": [],
|
| 590 |
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|
| 591 |
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|
| 592 |
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|
| 593 |
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"dtype": "float32",
|
| 594 |
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"shape": [],
|
| 595 |
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|
| 596 |
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},
|
| 597 |
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|
| 598 |
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"dtype": "float32",
|
| 599 |
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"shape": [],
|
| 600 |
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|
| 601 |
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|
| 602 |
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|
| 603 |
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"dtype": "float32",
|
| 604 |
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|
| 605 |
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|
| 606 |
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|
| 607 |
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|
| 608 |
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"dtype": "float32",
|
| 609 |
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|
| 610 |
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|
| 611 |
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},
|
| 612 |
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|
| 613 |
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"dtype": "float32",
|
| 614 |
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"shape": [],
|
| 615 |
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"names": null
|
| 616 |
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},
|
| 617 |
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"observation.arm2_wrist_1_joint.position": {
|
| 618 |
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"dtype": "float32",
|
| 619 |
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"shape": [],
|
| 620 |
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|
| 621 |
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},
|
| 622 |
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|
| 623 |
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"dtype": "float32",
|
| 624 |
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"shape": [],
|
| 625 |
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|
| 626 |
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},
|
| 627 |
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|
| 628 |
+
"dtype": "float32",
|
| 629 |
+
"shape": [],
|
| 630 |
+
"names": null
|
| 631 |
+
},
|
| 632 |
+
"observation.state": {
|
| 633 |
+
"dtype": "float32",
|
| 634 |
+
"shape": [],
|
| 635 |
+
"names": null
|
| 636 |
+
},
|
| 637 |
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"action": {
|
| 638 |
+
"dtype": "float32",
|
| 639 |
+
"shape": [],
|
| 640 |
+
"names": null
|
| 641 |
+
},
|
| 642 |
+
"observation.clock.clock": {
|
| 643 |
+
"dtype": "float32",
|
| 644 |
+
"shape": [],
|
| 645 |
+
"names": null
|
| 646 |
+
}
|
| 647 |
+
},
|
| 648 |
+
"n_joints": 34,
|
| 649 |
+
"joint_names": [
|
| 650 |
+
"arm1_shoulder_lift_joint",
|
| 651 |
+
"arm1_elbow_joint",
|
| 652 |
+
"arm1_wrist_1_joint",
|
| 653 |
+
"arm1_wrist_2_joint",
|
| 654 |
+
"arm2_wrist_3_joint",
|
| 655 |
+
"arm1_wrist_3_joint",
|
| 656 |
+
"arm2_3f_finger_b_joint_3",
|
| 657 |
+
"arm1_3f_finger_c_joint_3",
|
| 658 |
+
"arm2_3f_palm_finger_b_joint",
|
| 659 |
+
"arm2_3f_finger_c_joint_3",
|
| 660 |
+
"arm2_3f_palm_finger_c_joint",
|
| 661 |
+
"arm1_3f_finger_c_joint_2",
|
| 662 |
+
"arm2_3f_finger_a_joint_3",
|
| 663 |
+
"arm2_3f_finger_c_joint_2",
|
| 664 |
+
"arm1_3f_finger_b_joint_2",
|
| 665 |
+
"arm2_3f_finger_c_joint_1",
|
| 666 |
+
"arm2_wrist_2_joint",
|
| 667 |
+
"arm1_shoulder_pan_joint",
|
| 668 |
+
"arm1_3f_finger_c_joint_1",
|
| 669 |
+
"arm2_3f_finger_b_joint_1",
|
| 670 |
+
"arm2_shoulder_pan_joint",
|
| 671 |
+
"arm1_3f_finger_b_joint_3",
|
| 672 |
+
"arm1_3f_finger_b_joint_1",
|
| 673 |
+
"arm2_3f_finger_a_joint_2",
|
| 674 |
+
"arm1_3f_palm_finger_b_joint",
|
| 675 |
+
"arm1_3f_finger_a_joint_3",
|
| 676 |
+
"arm2_elbow_joint",
|
| 677 |
+
"arm1_3f_finger_a_joint_1",
|
| 678 |
+
"arm2_shoulder_lift_joint",
|
| 679 |
+
"arm2_3f_finger_b_joint_2",
|
| 680 |
+
"arm2_3f_finger_a_joint_1",
|
| 681 |
+
"arm1_3f_palm_finger_c_joint",
|
| 682 |
+
"arm1_3f_finger_a_joint_2",
|
| 683 |
+
"arm2_wrist_1_joint"
|
| 684 |
+
]
|
| 685 |
+
}
|
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 |
+
]
|