jumpei arima commited on
Commit
7bf613f
·
1 Parent(s): 817a22e

add dataset

Browse files
Files changed (32) hide show
  1. 031/meta/info.json +336 -0
  2. 031/meta/tasks.jsonl +3 -0
  3. 032/data/chunk-000/episode_000000.parquet +3 -0
  4. 032/data/chunk-000/episode_000001.parquet +3 -0
  5. 032/meta/episodes.jsonl +2 -0
  6. 032/meta/episodes_stats.jsonl +0 -0
  7. 032/meta/info.json +338 -0
  8. 032/meta/tasks.jsonl +3 -0
  9. 032/videos/chunk-000/observation.image.hand/episode_000000.mp4 +3 -0
  10. 032/videos/chunk-000/observation.image.hand/episode_000001.mp4 +3 -0
  11. 032/videos/chunk-000/observation.image.head/episode_000000.mp4 +3 -0
  12. 032/videos/chunk-000/observation.image.head/episode_000001.mp4 +3 -0
  13. 033/data/chunk-000/episode_000000.parquet +3 -0
  14. 033/data/chunk-000/episode_000001.parquet +3 -0
  15. 033/meta/episodes.jsonl +2 -0
  16. 033/meta/episodes_stats.jsonl +0 -0
  17. 033/meta/info.json +338 -0
  18. 033/meta/tasks.jsonl +3 -0
  19. 033/videos/chunk-000/observation.image.hand/episode_000000.mp4 +3 -0
  20. 033/videos/chunk-000/observation.image.hand/episode_000001.mp4 +3 -0
  21. 033/videos/chunk-000/observation.image.head/episode_000000.mp4 +3 -0
  22. 033/videos/chunk-000/observation.image.head/episode_000001.mp4 +3 -0
  23. 034/data/chunk-000/episode_000000.parquet +3 -0
  24. 034/data/chunk-000/episode_000001.parquet +3 -0
  25. 034/meta/episodes.jsonl +2 -0
  26. 034/meta/episodes_stats.jsonl +0 -0
  27. 034/meta/info.json +338 -0
  28. 034/meta/tasks.jsonl +3 -0
  29. 034/videos/chunk-000/observation.image.hand/episode_000000.mp4 +3 -0
  30. 034/videos/chunk-000/observation.image.hand/episode_000001.mp4 +3 -0
  31. 034/videos/chunk-000/observation.image.head/episode_000000.mp4 +3 -0
  32. 034/videos/chunk-000/observation.image.head/episode_000001.mp4 +3 -0
031/meta/info.json ADDED
@@ -0,0 +1,336 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "hsr",
4
+ "total_episodes": 0,
5
+ "total_frames": 0,
6
+ "total_tasks": 0,
7
+ "total_videos": 0,
8
+ "total_chunks": 0,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
11
+ "splits": {},
12
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
13
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
14
+ "features": {
15
+ "observation.image.head": {
16
+ "dtype": "video",
17
+ "shape": [
18
+ 480,
19
+ 640,
20
+ 3
21
+ ],
22
+ "names": [
23
+ "height",
24
+ "width",
25
+ "channel"
26
+ ],
27
+ "info": {
28
+ "video.fps": 10,
29
+ "video.codec": "av1",
30
+ "video.pix_fmt": "yuv420p",
31
+ "video.is_depth_map": "false",
32
+ "has_audio": "false"
33
+ }
34
+ },
35
+ "observation.image.hand": {
36
+ "dtype": "video",
37
+ "shape": [
38
+ 480,
39
+ 640,
40
+ 3
41
+ ],
42
+ "names": [
43
+ "height",
44
+ "width",
45
+ "channel"
46
+ ],
47
+ "info": {
48
+ "video.fps": 10,
49
+ "video.codec": "av1",
50
+ "video.pix_fmt": "yuv420p",
51
+ "video.is_depth_map": "false",
52
+ "has_audio": "false"
53
+ }
54
+ },
55
+ "observation.state": {
56
+ "dtype": "float32",
57
+ "shape": [
58
+ 8
59
+ ],
60
+ "names": [
61
+ "arm_lift_joint",
62
+ "arm_flex_joint",
63
+ "arm_roll_joint",
64
+ "wrist_flex_joint",
65
+ "wrist_roll_joint",
66
+ "hand_motor_joint",
67
+ "head_pan_joint",
68
+ "head_tilt_joint"
69
+ ]
70
+ },
71
+ "observation.wrist.wrench": {
72
+ "dtype": "float32",
73
+ "shape": [
74
+ 600
75
+ ],
76
+ "names": null,
77
+ "description": "Wrist wrench data (force and torque) flattened, fx, fy, fz, tx, ty, tz"
78
+ },
79
+ "observation.end_effector_pose.absolute": {
80
+ "shape": [
81
+ 6
82
+ ],
83
+ "dtype": "float32",
84
+ "names": [
85
+ "x",
86
+ "y",
87
+ "z",
88
+ "roll",
89
+ "pitch",
90
+ "yaw"
91
+ ]
92
+ },
93
+ "observation.end_effector_pose.relative": {
94
+ "shape": [
95
+ 6
96
+ ],
97
+ "dtype": "float32",
98
+ "names": [
99
+ "x",
100
+ "y",
101
+ "z",
102
+ "roll",
103
+ "pitch",
104
+ "yaw"
105
+ ]
106
+ },
107
+ "observation.head_pose.absolute": {
108
+ "shape": [
109
+ 6
110
+ ],
111
+ "dtype": "float32",
112
+ "names": [
113
+ "x",
114
+ "y",
115
+ "z",
116
+ "roll",
117
+ "pitch",
118
+ "yaw"
119
+ ]
120
+ },
121
+ "action.absolute": {
122
+ "dtype": "float32",
123
+ "shape": [
124
+ 8
125
+ ],
126
+ "names": [
127
+ "arm_lift_joint",
128
+ "arm_flex_joint",
129
+ "arm_roll_joint",
130
+ "wrist_flex_joint",
131
+ "wrist_roll_joint",
132
+ "hand_motor_joint",
133
+ "head_pan_joint",
134
+ "head_tilt_joint"
135
+ ],
136
+ "description": "absolute action for all joints without hand_motor_joint(gripper)"
137
+ },
138
+ "action.relative": {
139
+ "dtype": "float32",
140
+ "shape": [
141
+ 11
142
+ ],
143
+ "names": [
144
+ "arm_lift_joint",
145
+ "arm_flex_joint",
146
+ "arm_roll_joint",
147
+ "wrist_flex_joint",
148
+ "wrist_roll_joint",
149
+ "hand_motor_joint",
150
+ "head_pan_joint",
151
+ "head_tilt_joint",
152
+ "base_x",
153
+ "base_y",
154
+ "base_t"
155
+ ],
156
+ "description": "delta action for all joints and base without hand_motor_joint(gripper)"
157
+ },
158
+ "action.arm": {
159
+ "dtype": "float32",
160
+ "shape": [
161
+ 5
162
+ ],
163
+ "names": [
164
+ "arm_lift_joint",
165
+ "arm_flex_joint",
166
+ "arm_roll_joint",
167
+ "wrist_flex_joint",
168
+ "wrist_roll_joint"
169
+ ],
170
+ "description": "absolute action for arm joints"
171
+ },
172
+ "action.gripper": {
173
+ "dtype": "float32",
174
+ "shape": [
175
+ 1
176
+ ],
177
+ "names": [
178
+ "hand_motor_joint"
179
+ ],
180
+ "description": "absolute action for gripper"
181
+ },
182
+ "action.head": {
183
+ "dtype": "float32",
184
+ "shape": [
185
+ 2
186
+ ],
187
+ "names": [
188
+ "head_pan_joint",
189
+ "head_tilt_joint"
190
+ ],
191
+ "description": "absolute action for head joints"
192
+ },
193
+ "action.base": {
194
+ "dtype": "float32",
195
+ "shape": [
196
+ 3
197
+ ],
198
+ "names": [
199
+ "base_x",
200
+ "base_y",
201
+ "base_t"
202
+ ],
203
+ "description": "delta action for base"
204
+ },
205
+ "observation.image.head.is_fresh": {
206
+ "dtype": "bool",
207
+ "shape": [
208
+ 3,
209
+ 1,
210
+ 1
211
+ ],
212
+ "names": null
213
+ },
214
+ "observation.image.hand.is_fresh": {
215
+ "dtype": "bool",
216
+ "shape": [
217
+ 3,
218
+ 1,
219
+ 1
220
+ ],
221
+ "names": null
222
+ },
223
+ "observation.state.is_fresh": {
224
+ "dtype": "bool",
225
+ "shape": [
226
+ 8
227
+ ],
228
+ "names": null
229
+ },
230
+ "action.absolute.is_fresh": {
231
+ "dtype": "bool",
232
+ "shape": [
233
+ 8
234
+ ],
235
+ "names": null
236
+ },
237
+ "action.relative.is_fresh": {
238
+ "dtype": "bool",
239
+ "shape": [
240
+ 11
241
+ ],
242
+ "names": null
243
+ },
244
+ "action.arm.is_fresh": {
245
+ "dtype": "bool",
246
+ "shape": [
247
+ 5
248
+ ],
249
+ "names": null
250
+ },
251
+ "action.gripper.is_fresh": {
252
+ "dtype": "bool",
253
+ "shape": [
254
+ 1
255
+ ],
256
+ "names": null
257
+ },
258
+ "action.head.is_fresh": {
259
+ "dtype": "bool",
260
+ "shape": [
261
+ 2
262
+ ],
263
+ "names": null
264
+ },
265
+ "action.base.is_fresh": {
266
+ "dtype": "bool",
267
+ "shape": [
268
+ 3
269
+ ],
270
+ "names": null
271
+ },
272
+ "episode_index": {
273
+ "dtype": "int64",
274
+ "shape": [
275
+ 1
276
+ ],
277
+ "names": null
278
+ },
279
+ "frame_index": {
280
+ "dtype": "int64",
281
+ "shape": [
282
+ 1
283
+ ],
284
+ "names": null
285
+ },
286
+ "timestamp": {
287
+ "dtype": "float32",
288
+ "shape": [
289
+ 1
290
+ ],
291
+ "names": null
292
+ },
293
+ "next.done": {
294
+ "dtype": "bool",
295
+ "shape": [
296
+ 1
297
+ ],
298
+ "names": null
299
+ },
300
+ "index": {
301
+ "dtype": "int64",
302
+ "shape": [
303
+ 1
304
+ ],
305
+ "names": null
306
+ },
307
+ "short_horizon_task_index": {
308
+ "dtype": "int64",
309
+ "shape": [
310
+ 1
311
+ ],
312
+ "names": null
313
+ },
314
+ "primitive_action_index": {
315
+ "dtype": "int64",
316
+ "shape": [
317
+ 1
318
+ ],
319
+ "names": null
320
+ },
321
+ "success_primitive_action": {
322
+ "dtype": "bool",
323
+ "shape": [
324
+ 1
325
+ ],
326
+ "names": null
327
+ },
328
+ "task_index": {
329
+ "dtype": "int64",
330
+ "shape": [
331
+ 1
332
+ ],
333
+ "names": null
334
+ }
335
+ }
336
+ }
031/meta/tasks.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"task_index": 0, "task": "Grab a plastic bottle"}
2
+ {"task_index": 1, "task": "Put a plastic bottle in the basket"}
3
+ {"task_index": 2, "task": "Perform display tasks in stores"}
032/data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff834877ccb8c040e461c2b5de686f3bc01970ba27b01dd5f58b738821b3e587
3
+ size 37105
032/data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:86cc7160bfd0c8375592c333015413319b5c1b67f667e59c8154ca5892406713
3
+ size 215823
032/meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab a plastic bottle"], "length": 31, "uuid": "5fbbda4a-d8ba-4e3f-8924-e3ce6140f482", "bag_path": "data.bag", "calib": {"/hsrb/head_rgbd_sensor/rgb/camera_info": {"height": 480, "width": 640, "distortion_model": "plumb_bob", "D": [0.0461437585430877, -0.08970865949949923, -0.0003579889447974773, 0.001230611485320841, -0.1465620200159379], "K": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 1.0], "R": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], "P": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 0.0, 1.0, 0.0], "binning_x": 0, "binning_y": 0}, "/hsrb/hand_camera/camera_info": {"height": 480, "width": 640, "distortion_model": "", "D": [], "K": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "R": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "P": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "binning_x": 0, "binning_y": 0}}, "version": "1.0", "location_name": "weblab", "interface": "hsr_leader_teleop", "git_hash": "b9fdea513c38fbe26d73336aa7c093b8bcb0edf5", "git_branch": "develop", "interface_git_hash": "175fe5916d4381a03d6ffe27415408b0863f79bd", "interface_git_branch": "develop", "pipeline_git_hash": "25853976075f2b323d880e63fd1906140209aa11", "pipeline_git_branch": "feature/convert_by_label", "external_path": null, "label": "032", "hsr_id": "hsrc054", "task_type": "PA", "task_success": true, "short_horizon_task": "Perform display tasks in stores", "primitive_action": ["Grab a plastic bottle", "Put a plastic bottle in the basket"], "success_short_horizon_task": true}
2
+ {"episode_index": 1, "tasks": ["Put a plastic bottle in the basket"], "length": 273, "uuid": "5fbbda4a-d8ba-4e3f-8924-e3ce6140f482", "bag_path": "data.bag", "calib": {"/hsrb/head_rgbd_sensor/rgb/camera_info": {"height": 480, "width": 640, "distortion_model": "plumb_bob", "D": [0.0461437585430877, -0.08970865949949923, -0.0003579889447974773, 0.001230611485320841, -0.1465620200159379], "K": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 1.0], "R": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], "P": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 0.0, 1.0, 0.0], "binning_x": 0, "binning_y": 0}, "/hsrb/hand_camera/camera_info": {"height": 480, "width": 640, "distortion_model": "", "D": [], "K": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "R": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "P": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "binning_x": 0, "binning_y": 0}}, "version": "1.0", "location_name": "weblab", "interface": "hsr_leader_teleop", "git_hash": "b9fdea513c38fbe26d73336aa7c093b8bcb0edf5", "git_branch": "develop", "interface_git_hash": "175fe5916d4381a03d6ffe27415408b0863f79bd", "interface_git_branch": "develop", "pipeline_git_hash": "25853976075f2b323d880e63fd1906140209aa11", "pipeline_git_branch": "feature/convert_by_label", "external_path": null, "label": "032", "hsr_id": "hsrc054", "task_type": "PA", "task_success": true, "short_horizon_task": "Perform display tasks in stores", "primitive_action": ["Grab a plastic bottle", "Put a plastic bottle in the basket"], "success_short_horizon_task": true}
032/meta/episodes_stats.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
032/meta/info.json ADDED
@@ -0,0 +1,338 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "hsr",
4
+ "total_episodes": 2,
5
+ "total_frames": 304,
6
+ "total_tasks": 3,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
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
+ "observation.image.head": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "info": {
30
+ "video.fps": 10,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": "false",
34
+ "has_audio": "false"
35
+ }
36
+ },
37
+ "observation.image.hand": {
38
+ "dtype": "video",
39
+ "shape": [
40
+ 480,
41
+ 640,
42
+ 3
43
+ ],
44
+ "names": [
45
+ "height",
46
+ "width",
47
+ "channel"
48
+ ],
49
+ "info": {
50
+ "video.fps": 10,
51
+ "video.codec": "av1",
52
+ "video.pix_fmt": "yuv420p",
53
+ "video.is_depth_map": "false",
54
+ "has_audio": "false"
55
+ }
56
+ },
57
+ "observation.state": {
58
+ "dtype": "float32",
59
+ "shape": [
60
+ 8
61
+ ],
62
+ "names": [
63
+ "arm_lift_joint",
64
+ "arm_flex_joint",
65
+ "arm_roll_joint",
66
+ "wrist_flex_joint",
67
+ "wrist_roll_joint",
68
+ "hand_motor_joint",
69
+ "head_pan_joint",
70
+ "head_tilt_joint"
71
+ ]
72
+ },
73
+ "observation.wrist.wrench": {
74
+ "dtype": "float32",
75
+ "shape": [
76
+ 600
77
+ ],
78
+ "names": null,
79
+ "description": "Wrist wrench data (force and torque) flattened, fx, fy, fz, tx, ty, tz"
80
+ },
81
+ "observation.end_effector_pose.absolute": {
82
+ "shape": [
83
+ 6
84
+ ],
85
+ "dtype": "float32",
86
+ "names": [
87
+ "x",
88
+ "y",
89
+ "z",
90
+ "roll",
91
+ "pitch",
92
+ "yaw"
93
+ ]
94
+ },
95
+ "observation.end_effector_pose.relative": {
96
+ "shape": [
97
+ 6
98
+ ],
99
+ "dtype": "float32",
100
+ "names": [
101
+ "x",
102
+ "y",
103
+ "z",
104
+ "roll",
105
+ "pitch",
106
+ "yaw"
107
+ ]
108
+ },
109
+ "observation.head_pose.absolute": {
110
+ "shape": [
111
+ 6
112
+ ],
113
+ "dtype": "float32",
114
+ "names": [
115
+ "x",
116
+ "y",
117
+ "z",
118
+ "roll",
119
+ "pitch",
120
+ "yaw"
121
+ ]
122
+ },
123
+ "action.absolute": {
124
+ "dtype": "float32",
125
+ "shape": [
126
+ 8
127
+ ],
128
+ "names": [
129
+ "arm_lift_joint",
130
+ "arm_flex_joint",
131
+ "arm_roll_joint",
132
+ "wrist_flex_joint",
133
+ "wrist_roll_joint",
134
+ "hand_motor_joint",
135
+ "head_pan_joint",
136
+ "head_tilt_joint"
137
+ ],
138
+ "description": "absolute action for all joints without hand_motor_joint(gripper)"
139
+ },
140
+ "action.relative": {
141
+ "dtype": "float32",
142
+ "shape": [
143
+ 11
144
+ ],
145
+ "names": [
146
+ "arm_lift_joint",
147
+ "arm_flex_joint",
148
+ "arm_roll_joint",
149
+ "wrist_flex_joint",
150
+ "wrist_roll_joint",
151
+ "hand_motor_joint",
152
+ "head_pan_joint",
153
+ "head_tilt_joint",
154
+ "base_x",
155
+ "base_y",
156
+ "base_t"
157
+ ],
158
+ "description": "delta action for all joints and base without hand_motor_joint(gripper)"
159
+ },
160
+ "action.arm": {
161
+ "dtype": "float32",
162
+ "shape": [
163
+ 5
164
+ ],
165
+ "names": [
166
+ "arm_lift_joint",
167
+ "arm_flex_joint",
168
+ "arm_roll_joint",
169
+ "wrist_flex_joint",
170
+ "wrist_roll_joint"
171
+ ],
172
+ "description": "absolute action for arm joints"
173
+ },
174
+ "action.gripper": {
175
+ "dtype": "float32",
176
+ "shape": [
177
+ 1
178
+ ],
179
+ "names": [
180
+ "hand_motor_joint"
181
+ ],
182
+ "description": "absolute action for gripper"
183
+ },
184
+ "action.head": {
185
+ "dtype": "float32",
186
+ "shape": [
187
+ 2
188
+ ],
189
+ "names": [
190
+ "head_pan_joint",
191
+ "head_tilt_joint"
192
+ ],
193
+ "description": "absolute action for head joints"
194
+ },
195
+ "action.base": {
196
+ "dtype": "float32",
197
+ "shape": [
198
+ 3
199
+ ],
200
+ "names": [
201
+ "base_x",
202
+ "base_y",
203
+ "base_t"
204
+ ],
205
+ "description": "delta action for base"
206
+ },
207
+ "observation.image.head.is_fresh": {
208
+ "dtype": "bool",
209
+ "shape": [
210
+ 3,
211
+ 1,
212
+ 1
213
+ ],
214
+ "names": null
215
+ },
216
+ "observation.image.hand.is_fresh": {
217
+ "dtype": "bool",
218
+ "shape": [
219
+ 3,
220
+ 1,
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "observation.state.is_fresh": {
226
+ "dtype": "bool",
227
+ "shape": [
228
+ 8
229
+ ],
230
+ "names": null
231
+ },
232
+ "action.absolute.is_fresh": {
233
+ "dtype": "bool",
234
+ "shape": [
235
+ 8
236
+ ],
237
+ "names": null
238
+ },
239
+ "action.relative.is_fresh": {
240
+ "dtype": "bool",
241
+ "shape": [
242
+ 11
243
+ ],
244
+ "names": null
245
+ },
246
+ "action.arm.is_fresh": {
247
+ "dtype": "bool",
248
+ "shape": [
249
+ 5
250
+ ],
251
+ "names": null
252
+ },
253
+ "action.gripper.is_fresh": {
254
+ "dtype": "bool",
255
+ "shape": [
256
+ 1
257
+ ],
258
+ "names": null
259
+ },
260
+ "action.head.is_fresh": {
261
+ "dtype": "bool",
262
+ "shape": [
263
+ 2
264
+ ],
265
+ "names": null
266
+ },
267
+ "action.base.is_fresh": {
268
+ "dtype": "bool",
269
+ "shape": [
270
+ 3
271
+ ],
272
+ "names": null
273
+ },
274
+ "episode_index": {
275
+ "dtype": "int64",
276
+ "shape": [
277
+ 1
278
+ ],
279
+ "names": null
280
+ },
281
+ "frame_index": {
282
+ "dtype": "int64",
283
+ "shape": [
284
+ 1
285
+ ],
286
+ "names": null
287
+ },
288
+ "timestamp": {
289
+ "dtype": "float32",
290
+ "shape": [
291
+ 1
292
+ ],
293
+ "names": null
294
+ },
295
+ "next.done": {
296
+ "dtype": "bool",
297
+ "shape": [
298
+ 1
299
+ ],
300
+ "names": null
301
+ },
302
+ "index": {
303
+ "dtype": "int64",
304
+ "shape": [
305
+ 1
306
+ ],
307
+ "names": null
308
+ },
309
+ "short_horizon_task_index": {
310
+ "dtype": "int64",
311
+ "shape": [
312
+ 1
313
+ ],
314
+ "names": null
315
+ },
316
+ "primitive_action_index": {
317
+ "dtype": "int64",
318
+ "shape": [
319
+ 1
320
+ ],
321
+ "names": null
322
+ },
323
+ "success_primitive_action": {
324
+ "dtype": "bool",
325
+ "shape": [
326
+ 1
327
+ ],
328
+ "names": null
329
+ },
330
+ "task_index": {
331
+ "dtype": "int64",
332
+ "shape": [
333
+ 1
334
+ ],
335
+ "names": null
336
+ }
337
+ }
338
+ }
032/meta/tasks.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"task_index": 0, "task": "Grab a plastic bottle"}
2
+ {"task_index": 1, "task": "Put a plastic bottle in the basket"}
3
+ {"task_index": 2, "task": "Perform display tasks in stores"}
032/videos/chunk-000/observation.image.hand/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f0e503001fe3ca965a34a1bd65450bca52d6ea33c12f12fb61c8aca43d235d77
3
+ size 247578
032/videos/chunk-000/observation.image.hand/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:95371d470fb1a8596455cb52cd81284c1999810e899ee37a4fc0aceae8e23e04
3
+ size 2044173
032/videos/chunk-000/observation.image.head/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1ef154fa0a58a13783bf837ed91e415b134422a9ba024b271718e75aa7234e1
3
+ size 492641
032/videos/chunk-000/observation.image.head/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:66b2570195e76afa101a521abc73173fd5e5cedf21b5b863cadd7de93a94a5eb
3
+ size 4203981
033/data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:19cbdab8ce2c28866195126683248210c2d76eafefa769f13eb9ab1cd984230f
3
+ size 59261
033/data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b4dd318662ab5d7fb12344964af542efd04d3cc2048d97720eb3ee3ef274c5cb
3
+ size 293866
033/meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab a plastic bottle"], "length": 100, "uuid": "e889fecd-3466-4681-b493-ffb56db5c173", "bag_path": "data.bag", "calib": {"/hsrb/hand_camera/camera_info": {"height": 480, "width": 640, "distortion_model": "", "D": [], "K": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "R": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "P": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "binning_x": 0, "binning_y": 0}, "/hsrb/head_rgbd_sensor/rgb/camera_info": {"height": 480, "width": 640, "distortion_model": "plumb_bob", "D": [0.0461437585430877, -0.08970865949949923, -0.0003579889447974773, 0.001230611485320841, -0.1465620200159379], "K": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 1.0], "R": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], "P": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 0.0, 1.0, 0.0], "binning_x": 0, "binning_y": 0}}, "version": "1.0", "location_name": "weblab", "interface": "hsr_leader_teleop", "git_hash": "b9fdea513c38fbe26d73336aa7c093b8bcb0edf5", "git_branch": "develop", "interface_git_hash": "175fe5916d4381a03d6ffe27415408b0863f79bd", "interface_git_branch": "develop", "pipeline_git_hash": "25853976075f2b323d880e63fd1906140209aa11", "pipeline_git_branch": "feature/convert_by_label", "external_path": null, "label": "033", "hsr_id": "hsrc054", "task_type": "PA", "task_success": true, "short_horizon_task": "Perform display tasks in stores", "primitive_action": ["Grab a plastic bottle", "Put a plastic bottle in the basket"], "success_short_horizon_task": true}
2
+ {"episode_index": 1, "tasks": ["Put a plastic bottle in the basket"], "length": 279, "uuid": "e889fecd-3466-4681-b493-ffb56db5c173", "bag_path": "data.bag", "calib": {"/hsrb/hand_camera/camera_info": {"height": 480, "width": 640, "distortion_model": "", "D": [], "K": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "R": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "P": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "binning_x": 0, "binning_y": 0}, "/hsrb/head_rgbd_sensor/rgb/camera_info": {"height": 480, "width": 640, "distortion_model": "plumb_bob", "D": [0.0461437585430877, -0.08970865949949923, -0.0003579889447974773, 0.001230611485320841, -0.1465620200159379], "K": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 1.0], "R": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], "P": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 0.0, 1.0, 0.0], "binning_x": 0, "binning_y": 0}}, "version": "1.0", "location_name": "weblab", "interface": "hsr_leader_teleop", "git_hash": "b9fdea513c38fbe26d73336aa7c093b8bcb0edf5", "git_branch": "develop", "interface_git_hash": "175fe5916d4381a03d6ffe27415408b0863f79bd", "interface_git_branch": "develop", "pipeline_git_hash": "25853976075f2b323d880e63fd1906140209aa11", "pipeline_git_branch": "feature/convert_by_label", "external_path": null, "label": "033", "hsr_id": "hsrc054", "task_type": "PA", "task_success": true, "short_horizon_task": "Perform display tasks in stores", "primitive_action": ["Grab a plastic bottle", "Put a plastic bottle in the basket"], "success_short_horizon_task": true}
033/meta/episodes_stats.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
033/meta/info.json ADDED
@@ -0,0 +1,338 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "hsr",
4
+ "total_episodes": 2,
5
+ "total_frames": 379,
6
+ "total_tasks": 3,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
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
+ "observation.image.head": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "info": {
30
+ "video.fps": 10,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": "false",
34
+ "has_audio": "false"
35
+ }
36
+ },
37
+ "observation.image.hand": {
38
+ "dtype": "video",
39
+ "shape": [
40
+ 480,
41
+ 640,
42
+ 3
43
+ ],
44
+ "names": [
45
+ "height",
46
+ "width",
47
+ "channel"
48
+ ],
49
+ "info": {
50
+ "video.fps": 10,
51
+ "video.codec": "av1",
52
+ "video.pix_fmt": "yuv420p",
53
+ "video.is_depth_map": "false",
54
+ "has_audio": "false"
55
+ }
56
+ },
57
+ "observation.state": {
58
+ "dtype": "float32",
59
+ "shape": [
60
+ 8
61
+ ],
62
+ "names": [
63
+ "arm_lift_joint",
64
+ "arm_flex_joint",
65
+ "arm_roll_joint",
66
+ "wrist_flex_joint",
67
+ "wrist_roll_joint",
68
+ "hand_motor_joint",
69
+ "head_pan_joint",
70
+ "head_tilt_joint"
71
+ ]
72
+ },
73
+ "observation.wrist.wrench": {
74
+ "dtype": "float32",
75
+ "shape": [
76
+ 600
77
+ ],
78
+ "names": null,
79
+ "description": "Wrist wrench data (force and torque) flattened, fx, fy, fz, tx, ty, tz"
80
+ },
81
+ "observation.end_effector_pose.absolute": {
82
+ "shape": [
83
+ 6
84
+ ],
85
+ "dtype": "float32",
86
+ "names": [
87
+ "x",
88
+ "y",
89
+ "z",
90
+ "roll",
91
+ "pitch",
92
+ "yaw"
93
+ ]
94
+ },
95
+ "observation.end_effector_pose.relative": {
96
+ "shape": [
97
+ 6
98
+ ],
99
+ "dtype": "float32",
100
+ "names": [
101
+ "x",
102
+ "y",
103
+ "z",
104
+ "roll",
105
+ "pitch",
106
+ "yaw"
107
+ ]
108
+ },
109
+ "observation.head_pose.absolute": {
110
+ "shape": [
111
+ 6
112
+ ],
113
+ "dtype": "float32",
114
+ "names": [
115
+ "x",
116
+ "y",
117
+ "z",
118
+ "roll",
119
+ "pitch",
120
+ "yaw"
121
+ ]
122
+ },
123
+ "action.absolute": {
124
+ "dtype": "float32",
125
+ "shape": [
126
+ 8
127
+ ],
128
+ "names": [
129
+ "arm_lift_joint",
130
+ "arm_flex_joint",
131
+ "arm_roll_joint",
132
+ "wrist_flex_joint",
133
+ "wrist_roll_joint",
134
+ "hand_motor_joint",
135
+ "head_pan_joint",
136
+ "head_tilt_joint"
137
+ ],
138
+ "description": "absolute action for all joints without hand_motor_joint(gripper)"
139
+ },
140
+ "action.relative": {
141
+ "dtype": "float32",
142
+ "shape": [
143
+ 11
144
+ ],
145
+ "names": [
146
+ "arm_lift_joint",
147
+ "arm_flex_joint",
148
+ "arm_roll_joint",
149
+ "wrist_flex_joint",
150
+ "wrist_roll_joint",
151
+ "hand_motor_joint",
152
+ "head_pan_joint",
153
+ "head_tilt_joint",
154
+ "base_x",
155
+ "base_y",
156
+ "base_t"
157
+ ],
158
+ "description": "delta action for all joints and base without hand_motor_joint(gripper)"
159
+ },
160
+ "action.arm": {
161
+ "dtype": "float32",
162
+ "shape": [
163
+ 5
164
+ ],
165
+ "names": [
166
+ "arm_lift_joint",
167
+ "arm_flex_joint",
168
+ "arm_roll_joint",
169
+ "wrist_flex_joint",
170
+ "wrist_roll_joint"
171
+ ],
172
+ "description": "absolute action for arm joints"
173
+ },
174
+ "action.gripper": {
175
+ "dtype": "float32",
176
+ "shape": [
177
+ 1
178
+ ],
179
+ "names": [
180
+ "hand_motor_joint"
181
+ ],
182
+ "description": "absolute action for gripper"
183
+ },
184
+ "action.head": {
185
+ "dtype": "float32",
186
+ "shape": [
187
+ 2
188
+ ],
189
+ "names": [
190
+ "head_pan_joint",
191
+ "head_tilt_joint"
192
+ ],
193
+ "description": "absolute action for head joints"
194
+ },
195
+ "action.base": {
196
+ "dtype": "float32",
197
+ "shape": [
198
+ 3
199
+ ],
200
+ "names": [
201
+ "base_x",
202
+ "base_y",
203
+ "base_t"
204
+ ],
205
+ "description": "delta action for base"
206
+ },
207
+ "observation.image.head.is_fresh": {
208
+ "dtype": "bool",
209
+ "shape": [
210
+ 3,
211
+ 1,
212
+ 1
213
+ ],
214
+ "names": null
215
+ },
216
+ "observation.image.hand.is_fresh": {
217
+ "dtype": "bool",
218
+ "shape": [
219
+ 3,
220
+ 1,
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "observation.state.is_fresh": {
226
+ "dtype": "bool",
227
+ "shape": [
228
+ 8
229
+ ],
230
+ "names": null
231
+ },
232
+ "action.absolute.is_fresh": {
233
+ "dtype": "bool",
234
+ "shape": [
235
+ 8
236
+ ],
237
+ "names": null
238
+ },
239
+ "action.relative.is_fresh": {
240
+ "dtype": "bool",
241
+ "shape": [
242
+ 11
243
+ ],
244
+ "names": null
245
+ },
246
+ "action.arm.is_fresh": {
247
+ "dtype": "bool",
248
+ "shape": [
249
+ 5
250
+ ],
251
+ "names": null
252
+ },
253
+ "action.gripper.is_fresh": {
254
+ "dtype": "bool",
255
+ "shape": [
256
+ 1
257
+ ],
258
+ "names": null
259
+ },
260
+ "action.head.is_fresh": {
261
+ "dtype": "bool",
262
+ "shape": [
263
+ 2
264
+ ],
265
+ "names": null
266
+ },
267
+ "action.base.is_fresh": {
268
+ "dtype": "bool",
269
+ "shape": [
270
+ 3
271
+ ],
272
+ "names": null
273
+ },
274
+ "episode_index": {
275
+ "dtype": "int64",
276
+ "shape": [
277
+ 1
278
+ ],
279
+ "names": null
280
+ },
281
+ "frame_index": {
282
+ "dtype": "int64",
283
+ "shape": [
284
+ 1
285
+ ],
286
+ "names": null
287
+ },
288
+ "timestamp": {
289
+ "dtype": "float32",
290
+ "shape": [
291
+ 1
292
+ ],
293
+ "names": null
294
+ },
295
+ "next.done": {
296
+ "dtype": "bool",
297
+ "shape": [
298
+ 1
299
+ ],
300
+ "names": null
301
+ },
302
+ "index": {
303
+ "dtype": "int64",
304
+ "shape": [
305
+ 1
306
+ ],
307
+ "names": null
308
+ },
309
+ "short_horizon_task_index": {
310
+ "dtype": "int64",
311
+ "shape": [
312
+ 1
313
+ ],
314
+ "names": null
315
+ },
316
+ "primitive_action_index": {
317
+ "dtype": "int64",
318
+ "shape": [
319
+ 1
320
+ ],
321
+ "names": null
322
+ },
323
+ "success_primitive_action": {
324
+ "dtype": "bool",
325
+ "shape": [
326
+ 1
327
+ ],
328
+ "names": null
329
+ },
330
+ "task_index": {
331
+ "dtype": "int64",
332
+ "shape": [
333
+ 1
334
+ ],
335
+ "names": null
336
+ }
337
+ }
338
+ }
033/meta/tasks.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"task_index": 0, "task": "Grab a plastic bottle"}
2
+ {"task_index": 1, "task": "Put a plastic bottle in the basket"}
3
+ {"task_index": 2, "task": "Perform display tasks in stores"}
033/videos/chunk-000/observation.image.hand/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c509722406617a9790db3a953cd16c3e51e941e3d6c9c7f45096cbcb8c8baf32
3
+ size 744178
033/videos/chunk-000/observation.image.hand/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5542494eb0dce3bd2062c555fac6b1c66fd26273e661d34b119b3ec37eef130a
3
+ size 2684247
033/videos/chunk-000/observation.image.head/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c7e59bed2ebeb82ef00a8ce7340e2b757e4bc5ca1463b2d76751ddbcb2e45e5
3
+ size 1247875
033/videos/chunk-000/observation.image.head/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:daa2a806dfb10c0c184ab223ee48f340041e6284656a7761ce704276a8cd1d67
3
+ size 4360014
034/data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:21d84cbb495835c4a3a09c23cf7b64b294e394cba5ffc5d3a938b9a923056238
3
+ size 260515
034/data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cad0564f8ad1114b418b0384eb6e4d88d6e3c6c60e96d4ac7b11bc79dd518350
3
+ size 339390
034/meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab a plastic bottle"], "length": 356, "uuid": "4cb2ebd2-6c6b-44bd-9263-9a2328ebf9e5", "bag_path": "data.bag", "calib": {"/hsrb/hand_camera/camera_info": {"height": 480, "width": 640, "distortion_model": "", "D": [], "K": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "R": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "P": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "binning_x": 0, "binning_y": 0}, "/hsrb/head_rgbd_sensor/rgb/camera_info": {"height": 480, "width": 640, "distortion_model": "plumb_bob", "D": [0.0461437585430877, -0.08970865949949923, -0.0003579889447974773, 0.001230611485320841, -0.1465620200159379], "K": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 1.0], "R": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], "P": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 0.0, 1.0, 0.0], "binning_x": 0, "binning_y": 0}}, "version": "1.0", "location_name": "weblab", "interface": "hsr_leader_teleop", "git_hash": "b9fdea513c38fbe26d73336aa7c093b8bcb0edf5", "git_branch": "develop", "interface_git_hash": "175fe5916d4381a03d6ffe27415408b0863f79bd", "interface_git_branch": "develop", "pipeline_git_hash": "25853976075f2b323d880e63fd1906140209aa11", "pipeline_git_branch": "feature/convert_by_label", "external_path": null, "label": "034", "hsr_id": "hsrc054", "task_type": "PA", "task_success": true, "short_horizon_task": "Perform display tasks in stores", "primitive_action": ["Grab a plastic bottle", "Put a plastic bottle in the basket"], "success_short_horizon_task": true}
2
+ {"episode_index": 1, "tasks": ["Put a plastic bottle in the basket"], "length": 776, "uuid": "4cb2ebd2-6c6b-44bd-9263-9a2328ebf9e5", "bag_path": "data.bag", "calib": {"/hsrb/hand_camera/camera_info": {"height": 480, "width": 640, "distortion_model": "", "D": [], "K": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "R": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "P": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "binning_x": 0, "binning_y": 0}, "/hsrb/head_rgbd_sensor/rgb/camera_info": {"height": 480, "width": 640, "distortion_model": "plumb_bob", "D": [0.0461437585430877, -0.08970865949949923, -0.0003579889447974773, 0.001230611485320841, -0.1465620200159379], "K": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 1.0], "R": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], "P": [533.7972700442792, 0.0, 316.8746018857026, 0.0, 0.0, 534.6379457170048, 239.6607774824512, 0.0, 0.0, 0.0, 1.0, 0.0], "binning_x": 0, "binning_y": 0}}, "version": "1.0", "location_name": "weblab", "interface": "hsr_leader_teleop", "git_hash": "b9fdea513c38fbe26d73336aa7c093b8bcb0edf5", "git_branch": "develop", "interface_git_hash": "175fe5916d4381a03d6ffe27415408b0863f79bd", "interface_git_branch": "develop", "pipeline_git_hash": "25853976075f2b323d880e63fd1906140209aa11", "pipeline_git_branch": "feature/convert_by_label", "external_path": null, "label": "034", "hsr_id": "hsrc054", "task_type": "PA", "task_success": true, "short_horizon_task": "Perform display tasks in stores", "primitive_action": ["Grab a plastic bottle", "Put a plastic bottle in the basket"], "success_short_horizon_task": true}
034/meta/episodes_stats.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
034/meta/info.json ADDED
@@ -0,0 +1,338 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "hsr",
4
+ "total_episodes": 2,
5
+ "total_frames": 1132,
6
+ "total_tasks": 3,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
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
+ "observation.image.head": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "info": {
30
+ "video.fps": 10,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": "false",
34
+ "has_audio": "false"
35
+ }
36
+ },
37
+ "observation.image.hand": {
38
+ "dtype": "video",
39
+ "shape": [
40
+ 480,
41
+ 640,
42
+ 3
43
+ ],
44
+ "names": [
45
+ "height",
46
+ "width",
47
+ "channel"
48
+ ],
49
+ "info": {
50
+ "video.fps": 10,
51
+ "video.codec": "av1",
52
+ "video.pix_fmt": "yuv420p",
53
+ "video.is_depth_map": "false",
54
+ "has_audio": "false"
55
+ }
56
+ },
57
+ "observation.state": {
58
+ "dtype": "float32",
59
+ "shape": [
60
+ 8
61
+ ],
62
+ "names": [
63
+ "arm_lift_joint",
64
+ "arm_flex_joint",
65
+ "arm_roll_joint",
66
+ "wrist_flex_joint",
67
+ "wrist_roll_joint",
68
+ "hand_motor_joint",
69
+ "head_pan_joint",
70
+ "head_tilt_joint"
71
+ ]
72
+ },
73
+ "observation.wrist.wrench": {
74
+ "dtype": "float32",
75
+ "shape": [
76
+ 600
77
+ ],
78
+ "names": null,
79
+ "description": "Wrist wrench data (force and torque) flattened, fx, fy, fz, tx, ty, tz"
80
+ },
81
+ "observation.end_effector_pose.absolute": {
82
+ "shape": [
83
+ 6
84
+ ],
85
+ "dtype": "float32",
86
+ "names": [
87
+ "x",
88
+ "y",
89
+ "z",
90
+ "roll",
91
+ "pitch",
92
+ "yaw"
93
+ ]
94
+ },
95
+ "observation.end_effector_pose.relative": {
96
+ "shape": [
97
+ 6
98
+ ],
99
+ "dtype": "float32",
100
+ "names": [
101
+ "x",
102
+ "y",
103
+ "z",
104
+ "roll",
105
+ "pitch",
106
+ "yaw"
107
+ ]
108
+ },
109
+ "observation.head_pose.absolute": {
110
+ "shape": [
111
+ 6
112
+ ],
113
+ "dtype": "float32",
114
+ "names": [
115
+ "x",
116
+ "y",
117
+ "z",
118
+ "roll",
119
+ "pitch",
120
+ "yaw"
121
+ ]
122
+ },
123
+ "action.absolute": {
124
+ "dtype": "float32",
125
+ "shape": [
126
+ 8
127
+ ],
128
+ "names": [
129
+ "arm_lift_joint",
130
+ "arm_flex_joint",
131
+ "arm_roll_joint",
132
+ "wrist_flex_joint",
133
+ "wrist_roll_joint",
134
+ "hand_motor_joint",
135
+ "head_pan_joint",
136
+ "head_tilt_joint"
137
+ ],
138
+ "description": "absolute action for all joints without hand_motor_joint(gripper)"
139
+ },
140
+ "action.relative": {
141
+ "dtype": "float32",
142
+ "shape": [
143
+ 11
144
+ ],
145
+ "names": [
146
+ "arm_lift_joint",
147
+ "arm_flex_joint",
148
+ "arm_roll_joint",
149
+ "wrist_flex_joint",
150
+ "wrist_roll_joint",
151
+ "hand_motor_joint",
152
+ "head_pan_joint",
153
+ "head_tilt_joint",
154
+ "base_x",
155
+ "base_y",
156
+ "base_t"
157
+ ],
158
+ "description": "delta action for all joints and base without hand_motor_joint(gripper)"
159
+ },
160
+ "action.arm": {
161
+ "dtype": "float32",
162
+ "shape": [
163
+ 5
164
+ ],
165
+ "names": [
166
+ "arm_lift_joint",
167
+ "arm_flex_joint",
168
+ "arm_roll_joint",
169
+ "wrist_flex_joint",
170
+ "wrist_roll_joint"
171
+ ],
172
+ "description": "absolute action for arm joints"
173
+ },
174
+ "action.gripper": {
175
+ "dtype": "float32",
176
+ "shape": [
177
+ 1
178
+ ],
179
+ "names": [
180
+ "hand_motor_joint"
181
+ ],
182
+ "description": "absolute action for gripper"
183
+ },
184
+ "action.head": {
185
+ "dtype": "float32",
186
+ "shape": [
187
+ 2
188
+ ],
189
+ "names": [
190
+ "head_pan_joint",
191
+ "head_tilt_joint"
192
+ ],
193
+ "description": "absolute action for head joints"
194
+ },
195
+ "action.base": {
196
+ "dtype": "float32",
197
+ "shape": [
198
+ 3
199
+ ],
200
+ "names": [
201
+ "base_x",
202
+ "base_y",
203
+ "base_t"
204
+ ],
205
+ "description": "delta action for base"
206
+ },
207
+ "observation.image.head.is_fresh": {
208
+ "dtype": "bool",
209
+ "shape": [
210
+ 3,
211
+ 1,
212
+ 1
213
+ ],
214
+ "names": null
215
+ },
216
+ "observation.image.hand.is_fresh": {
217
+ "dtype": "bool",
218
+ "shape": [
219
+ 3,
220
+ 1,
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "observation.state.is_fresh": {
226
+ "dtype": "bool",
227
+ "shape": [
228
+ 8
229
+ ],
230
+ "names": null
231
+ },
232
+ "action.absolute.is_fresh": {
233
+ "dtype": "bool",
234
+ "shape": [
235
+ 8
236
+ ],
237
+ "names": null
238
+ },
239
+ "action.relative.is_fresh": {
240
+ "dtype": "bool",
241
+ "shape": [
242
+ 11
243
+ ],
244
+ "names": null
245
+ },
246
+ "action.arm.is_fresh": {
247
+ "dtype": "bool",
248
+ "shape": [
249
+ 5
250
+ ],
251
+ "names": null
252
+ },
253
+ "action.gripper.is_fresh": {
254
+ "dtype": "bool",
255
+ "shape": [
256
+ 1
257
+ ],
258
+ "names": null
259
+ },
260
+ "action.head.is_fresh": {
261
+ "dtype": "bool",
262
+ "shape": [
263
+ 2
264
+ ],
265
+ "names": null
266
+ },
267
+ "action.base.is_fresh": {
268
+ "dtype": "bool",
269
+ "shape": [
270
+ 3
271
+ ],
272
+ "names": null
273
+ },
274
+ "episode_index": {
275
+ "dtype": "int64",
276
+ "shape": [
277
+ 1
278
+ ],
279
+ "names": null
280
+ },
281
+ "frame_index": {
282
+ "dtype": "int64",
283
+ "shape": [
284
+ 1
285
+ ],
286
+ "names": null
287
+ },
288
+ "timestamp": {
289
+ "dtype": "float32",
290
+ "shape": [
291
+ 1
292
+ ],
293
+ "names": null
294
+ },
295
+ "next.done": {
296
+ "dtype": "bool",
297
+ "shape": [
298
+ 1
299
+ ],
300
+ "names": null
301
+ },
302
+ "index": {
303
+ "dtype": "int64",
304
+ "shape": [
305
+ 1
306
+ ],
307
+ "names": null
308
+ },
309
+ "short_horizon_task_index": {
310
+ "dtype": "int64",
311
+ "shape": [
312
+ 1
313
+ ],
314
+ "names": null
315
+ },
316
+ "primitive_action_index": {
317
+ "dtype": "int64",
318
+ "shape": [
319
+ 1
320
+ ],
321
+ "names": null
322
+ },
323
+ "success_primitive_action": {
324
+ "dtype": "bool",
325
+ "shape": [
326
+ 1
327
+ ],
328
+ "names": null
329
+ },
330
+ "task_index": {
331
+ "dtype": "int64",
332
+ "shape": [
333
+ 1
334
+ ],
335
+ "names": null
336
+ }
337
+ }
338
+ }
034/meta/tasks.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"task_index": 0, "task": "Grab a plastic bottle"}
2
+ {"task_index": 1, "task": "Put a plastic bottle in the basket"}
3
+ {"task_index": 2, "task": "Perform display tasks in stores"}
034/videos/chunk-000/observation.image.hand/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:30fc70d31a184aefbe67e6d808e07e527c38781572ce53b79c91a0f17ee11c6f
3
+ size 3058564
034/videos/chunk-000/observation.image.hand/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:752caf9013f50ac497b495b80cd7f9c610d7a79cacb009615af23ce98cf42804
3
+ size 7550926
034/videos/chunk-000/observation.image.head/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f39579b914cc134d83076d74f06c51c20e510490625d81645af846245fe3103d
3
+ size 5748506
034/videos/chunk-000/observation.image.head/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f1795694e6a23ad8d9686ef9d8831970c8c19182a07251bd7278f793eea02803
3
+ size 11885078