jumpei arima commited on
Commit ·
960a5d8
1
Parent(s): f0f9c5b
add dataset
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- 009/data/chunk-000/episode_000000.parquet +3 -0
- 009/data/chunk-000/episode_000001.parquet +3 -0
- 009/meta/episodes.jsonl +2 -0
- 009/meta/episodes_stats.jsonl +0 -0
- 009/meta/info.json +338 -0
- 009/meta/tasks.jsonl +3 -0
- 009/videos/chunk-000/observation.image.hand/episode_000000.mp4 +3 -0
- 009/videos/chunk-000/observation.image.hand/episode_000001.mp4 +3 -0
- 009/videos/chunk-000/observation.image.head/episode_000000.mp4 +3 -0
- 009/videos/chunk-000/observation.image.head/episode_000001.mp4 +3 -0
- 010/data/chunk-000/episode_000000.parquet +3 -0
- 010/data/chunk-000/episode_000001.parquet +3 -0
- 010/data/chunk-000/episode_000002.parquet +3 -0
- 010/meta/episodes.jsonl +3 -0
- 010/meta/episodes_stats.jsonl +0 -0
- 010/meta/info.json +338 -0
- 010/meta/tasks.jsonl +3 -0
- 010/videos/chunk-000/observation.image.hand/episode_000000.mp4 +3 -0
- 010/videos/chunk-000/observation.image.hand/episode_000001.mp4 +3 -0
- 010/videos/chunk-000/observation.image.hand/episode_000002.mp4 +3 -0
- 010/videos/chunk-000/observation.image.head/episode_000000.mp4 +3 -0
- 010/videos/chunk-000/observation.image.head/episode_000001.mp4 +3 -0
- 010/videos/chunk-000/observation.image.head/episode_000002.mp4 +3 -0
- 011/data/chunk-000/episode_000000.parquet +3 -0
- 011/data/chunk-000/episode_000001.parquet +3 -0
- 011/meta/episodes.jsonl +2 -0
- 011/meta/episodes_stats.jsonl +0 -0
- 011/meta/info.json +338 -0
- 011/meta/tasks.jsonl +3 -0
- 011/videos/chunk-000/observation.image.hand/episode_000000.mp4 +3 -0
- 011/videos/chunk-000/observation.image.hand/episode_000001.mp4 +3 -0
- 011/videos/chunk-000/observation.image.head/episode_000000.mp4 +3 -0
- 011/videos/chunk-000/observation.image.head/episode_000001.mp4 +3 -0
- 012/data/chunk-000/episode_000000.parquet +3 -0
- 012/data/chunk-000/episode_000001.parquet +3 -0
- 012/meta/episodes.jsonl +2 -0
- 012/meta/episodes_stats.jsonl +0 -0
- 012/meta/info.json +338 -0
- 012/meta/tasks.jsonl +3 -0
- 012/videos/chunk-000/observation.image.hand/episode_000000.mp4 +3 -0
- 012/videos/chunk-000/observation.image.hand/episode_000001.mp4 +3 -0
- 012/videos/chunk-000/observation.image.head/episode_000000.mp4 +3 -0
- 012/videos/chunk-000/observation.image.head/episode_000001.mp4 +3 -0
- 013/data/chunk-000/episode_000000.parquet +3 -0
- 013/data/chunk-000/episode_000001.parquet +3 -0
- 013/meta/episodes.jsonl +2 -0
- 013/meta/episodes_stats.jsonl +2 -0
- 013/meta/info.json +338 -0
- 013/meta/tasks.jsonl +3 -0
- 013/videos/chunk-000/observation.image.hand/episode_000000.mp4 +3 -0
009/data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:e40e56a2dd84176a1ce707d51444d9e63017a68bbb52e36f38899364d38a268a
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size 96821
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009/data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:e14bf4b090edd80bc5cc679023b41547e5879e5fb4a7f19d66ff79b28c2e2553
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size 87427
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009/meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grab a plastic bottle"], "length": 209}
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{"episode_index": 1, "tasks": ["Put a plastic bottle in the basket"], "length": 168}
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009/meta/episodes_stats.jsonl
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The diff for this file is too large to render.
See raw diff
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009/meta/info.json
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "hsr",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 377,
|
| 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": [
|
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{
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|
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|
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010/meta/tasks.jsonl
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| 2 |
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{"episode_index": 1, "tasks": ["Put a plastic bottle in the basket"], "length": 224, "uuid": "f6958787-1b64-4e9a-a783-2d53b6bbcca9", "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": "011", "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}
|
011/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
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|
|
|
011/meta/info.json
ADDED
|
@@ -0,0 +1,338 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "hsr",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 299,
|
| 6 |
+
"total_tasks": 3,
|
| 7 |
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"total_videos": 4,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"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 |
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"dtype": "video",
|
| 19 |
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"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 |
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"dtype": "video",
|
| 39 |
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"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 |
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"video.is_depth_map": "false",
|
| 54 |
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"has_audio": "false"
|
| 55 |
+
}
|
| 56 |
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},
|
| 57 |
+
"observation.state": {
|
| 58 |
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"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 |
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],
|
| 85 |
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"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 |
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6
|
| 98 |
+
],
|
| 99 |
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"dtype": "float32",
|
| 100 |
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"names": [
|
| 101 |
+
"x",
|
| 102 |
+
"y",
|
| 103 |
+
"z",
|
| 104 |
+
"roll",
|
| 105 |
+
"pitch",
|
| 106 |
+
"yaw"
|
| 107 |
+
]
|
| 108 |
+
},
|
| 109 |
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"observation.head_pose.absolute": {
|
| 110 |
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"shape": [
|
| 111 |
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6
|
| 112 |
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],
|
| 113 |
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"dtype": "float32",
|
| 114 |
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"names": [
|
| 115 |
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"x",
|
| 116 |
+
"y",
|
| 117 |
+
"z",
|
| 118 |
+
"roll",
|
| 119 |
+
"pitch",
|
| 120 |
+
"yaw"
|
| 121 |
+
]
|
| 122 |
+
},
|
| 123 |
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"action.absolute": {
|
| 124 |
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"dtype": "float32",
|
| 125 |
+
"shape": [
|
| 126 |
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8
|
| 127 |
+
],
|
| 128 |
+
"names": [
|
| 129 |
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"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 |
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"shape": [
|
| 143 |
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11
|
| 144 |
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],
|
| 145 |
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"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 |
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"action.arm": {
|
| 161 |
+
"dtype": "float32",
|
| 162 |
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"shape": [
|
| 163 |
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5
|
| 164 |
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],
|
| 165 |
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"names": [
|
| 166 |
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"arm_lift_joint",
|
| 167 |
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"arm_flex_joint",
|
| 168 |
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"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 |
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"shape": [
|
| 177 |
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1
|
| 178 |
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],
|
| 179 |
+
"names": [
|
| 180 |
+
"hand_motor_joint"
|
| 181 |
+
],
|
| 182 |
+
"description": "absolute action for gripper"
|
| 183 |
+
},
|
| 184 |
+
"action.head": {
|
| 185 |
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"dtype": "float32",
|
| 186 |
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"shape": [
|
| 187 |
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2
|
| 188 |
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],
|
| 189 |
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"names": [
|
| 190 |
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"head_pan_joint",
|
| 191 |
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"head_tilt_joint"
|
| 192 |
+
],
|
| 193 |
+
"description": "absolute action for head joints"
|
| 194 |
+
},
|
| 195 |
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"action.base": {
|
| 196 |
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"dtype": "float32",
|
| 197 |
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"shape": [
|
| 198 |
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3
|
| 199 |
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],
|
| 200 |
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"names": [
|
| 201 |
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"base_x",
|
| 202 |
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"base_y",
|
| 203 |
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"base_t"
|
| 204 |
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],
|
| 205 |
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"description": "delta action for base"
|
| 206 |
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},
|
| 207 |
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"observation.image.head.is_fresh": {
|
| 208 |
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"dtype": "bool",
|
| 209 |
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"shape": [
|
| 210 |
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3,
|
| 211 |
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1,
|
| 212 |
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1
|
| 213 |
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],
|
| 214 |
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"names": null
|
| 215 |
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},
|
| 216 |
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"observation.image.hand.is_fresh": {
|
| 217 |
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"dtype": "bool",
|
| 218 |
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"shape": [
|
| 219 |
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3,
|
| 220 |
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1,
|
| 221 |
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1
|
| 222 |
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],
|
| 223 |
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"names": null
|
| 224 |
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},
|
| 225 |
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"observation.state.is_fresh": {
|
| 226 |
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"dtype": "bool",
|
| 227 |
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"shape": [
|
| 228 |
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8
|
| 229 |
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],
|
| 230 |
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"names": null
|
| 231 |
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},
|
| 232 |
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"action.absolute.is_fresh": {
|
| 233 |
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"dtype": "bool",
|
| 234 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
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600
|
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 98 |
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|
| 2 |
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "hsr",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 175,
|
| 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 |
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|
| 298 |
+
1
|
| 299 |
+
],
|
| 300 |
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"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 |
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"shape": [
|
| 326 |
+
1
|
| 327 |
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],
|
| 328 |
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"names": null
|
| 329 |
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},
|
| 330 |
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"task_index": {
|
| 331 |
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"dtype": "int64",
|
| 332 |
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"shape": [
|
| 333 |
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|
| 334 |
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],
|
| 335 |
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"names": null
|
| 336 |
+
}
|
| 337 |
+
}
|
| 338 |
+
}
|
013/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"}
|
013/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 sha256:1da4ab398029fb250b5478b8a1153335dd1c241773d51fba8aa46a54b3884312
|
| 3 |
+
size 1430802
|