Add files using upload-large-folder tool

data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:883cc20ca2f591348a340242a4bb2a8ee5d4cbd32e4af1c45559ad78d30b277b
+size 84934096

data/chunk-000/file-001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f86b840c7a0baa86a1883bd5f119c46a7d7fd14602b9aa12ac542bc11f2f1fb9
+size 86648993

data/chunk-000/file-002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:593654db976a82b3ca2b26f3fc3b7175f5dee4304ec03f12bf335cf63e5e10a0
+size 82733918

data/chunk-000/file-003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db746b61fd966073af7d0a87f64e9f4c40628c10e757f097c7efd88b2c2273ac
+size 85842869

data/chunk-000/file-004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec775fee21ef8d70ce919f6dd11368b26513404ae9a80d15a7b0a2e0818ac13a
+size 86747816

data/chunk-000/file-005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c4921150df9ae44e87a39642fe39be540463ad7fb665b0801b1e3a1944106c0
+size 84678359

data/chunk-000/file-006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc18103d0f42973726413105d34ea71a71516e4a317ee3c42dc6c0404e81d7a
+size 84120910

data/chunk-000/file-007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea68f9fa8a5ac463c6a97dd0037276bb237ffaca351d12f9877bf3c720716071
+size 85377087

data/chunk-000/file-008.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:876c70727e22b4d7f1774a6b347bd4a37e52d9f2f6d79903f16ace61a3d890d6
+size 81409561

data/chunk-000/file-009.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:868db94e63d2693e20b2268fd329617a96e8e0d78dde86f45a40167692ded844
+size 84305025

data/chunk-000/file-010.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e400ba6f07a09f939b29ab390d9d5a7828c4347b164ceff90fac77cb645cb9e
+size 84375476

data/chunk-000/file-011.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d53e5cc929c7961f35881a8518823ac29f65a7de248eef1c0e401951cca17d7
+size 84140571

data/chunk-000/file-012.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dc412620d29e4d19bf3ce736d18af51a9f8e5c94e0b7b20f433528f96f5d559
+size 83319021

data/chunk-000/file-013.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a329c44807b552421284a9480c0b0eba44be8645b4c3afafb7c1bb1f6ba527d
+size 85537432

data/chunk-000/file-014.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a68c0e6f98357531cc5ad3582adcb340bcc3c6f2dfe789dea7273a31096d969
+size 85793695

data/chunk-000/file-015.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bb88661da7a5145d9d7bc6cd507e11f2c468fb701c4a7b88cdafdec6a54ce95
+size 82691854

data/chunk-000/file-016.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f86b3fd5006e6748191757dd5895c9ec528b8d08b7a7b2abfde1b72f336d839
+size 83285786

data/chunk-000/file-017.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da61cf54d54d022c4e548d25dec887cac779ec78dc204bc35431afee1ea693e7
+size 85986718

data/chunk-000/file-018.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:273067387dcbac202fba16b1c5ebc223419a612c159d24f49309a380f0402e16
+size 84242615

data/chunk-000/file-019.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22b12adb2f1babe134386ac9b2864cb985915f824add43db74183bab6d4f0cf1
+size 83221858

data/chunk-000/file-020.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f7dfa237a39ee3928fcb0a544ce4548c177941aa3ce6159092e6ea4fed8428
+size 85935886

data/chunk-000/file-021.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1fdb34965dfbaef0a62e02096f2193c155c6702d0f79d3d42246eb1fe4ae652
+size 84864468

data/chunk-000/file-022.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f9d81b6bcf5cae3dcf403df8886823a8081853cdb8f4eadf4b59c88615b9f84
+size 85184830

data/chunk-000/file-023.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9d9bddb98250c82068bf6bbdf9ffe10ea38abfe6ca5aeddab3ebe0883230fe2
+size 85882064

data/chunk-000/file-024.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec35d4753eb676623b921729f6aed58f24a8cb7b8b041ea3e1d17287607b1e1e
+size 82643885

meta/action_layout.json

@@ -0,0 +1,19 @@
+{
+  "total_dim": 9,
+  "segments": [
+    {
+      "name": "manipulator",
+      "start": 0,
+      "stop": 7,
+      "width": 7,
+      "ctrl_type": "OSCPoseAbsoluteQuatController"
+    },
+    {
+      "name": "gripper",
+      "start": 7,
+      "stop": 9,
+      "width": 2,
+      "ctrl_type": "JointPositionController"
+    }
+  ]
+}

meta/env_config.json

@@ -0,0 +1,123 @@
+{
+  "task": "push",
+  "options": {
+    "sim": {
+      "control_hz": 20,
+      "performance_mode": false,
+      "n_envs": 1
+    },
+    "robot": {
+      "type_of_robot": "single",
+      "single": {
+        "manipulator": "franka",
+        "gripper": "franka_umi_tacticle",
+        "manipulator_controller": {
+          "name": "osc_pose_abs_quat",
+          "config": {
+            "normalized": false,
+            "clip": true,
+            "lin_range": [
+              1.5,
+              1.0,
+              1.0
+            ],
+            "position_cost": 8.0,
+            "orientation_cost": 6.0,
+            "posture_cost": 0.02,
+            "damping_cost": 0.004,
+            "max_joint_step": 0.05,
+            "pos_tol": 0.001,
+            "mink_substeps": 12,
+            "rot_tol": 0.001,
+            "mink_dt": 0.05
+          }
+        },
+        "gripper_controller": {
+          "name": "joint_position",
+          "config": {
+            "normalized": true,
+            "clip": true
+          }
+        },
+        "workspace": {
+          "min": [
+            0.15,
+            -0.5,
+            -0.1
+          ],
+          "max": [
+            0.65,
+            0.5,
+            0.6
+          ]
+        }
+      },
+      "left": null,
+      "right": null,
+      "layout": {
+        "preset": null,
+        "params": {},
+        "single": {
+          "pos": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "yaw_rad": 0.0,
+          "quat": null
+        },
+        "left": null,
+        "right": null
+      },
+      "visualize_tcp": false,
+      "visualize_aabb": false
+    },
+    "cameras": {
+      "static": {
+        "front": {
+          "pos": [
+            1.3,
+            0.0,
+            0.5
+          ],
+          "lookat": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "fov": 75.0,
+          "res": [
+            224,
+            224
+          ],
+          "gui": false
+        },
+        "right_side": {
+          "pos": [
+            0.5,
+            -1.2,
+            0.6
+          ],
+          "lookat": [
+            0.5,
+            0.5,
+            0.0
+          ],
+          "fov": 65.0,
+          "res": [
+            224,
+            224
+          ],
+          "gui": false
+        }
+      },
+      "dynamic": {
+        "wrist": "wrist_cam"
+      },
+      "modalities": [
+        "rgb",
+        "depth"
+      ]
+    }
+  }
+}

meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33315e38e34d21cff5ab166ef647ba06781b1f07319d2ab7185a93c5d29023a9
+size 2344596

meta/info.json

@@ -0,0 +1,382 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": null,
+    "total_episodes": 50,
+    "total_frames": 7660,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 500,
+    "fps": 20,
+    "splits": {
+        "train": "0:50"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "obs.state.gripper.qpos": {
+            "dtype": "float32",
+            "shape": [
+                2
+            ]
+        },
+        "obs.state.gripper.qtorque": {
+            "dtype": "float32",
+            "shape": [
+                2
+            ]
+        },
+        "obs.state.gripper.qvel": {
+            "dtype": "float32",
+            "shape": [
+                2
+            ]
+        },
+        "obs.state.gripper.tactile.left_elastomer.contact": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "obs.state.gripper.tactile.left_elastomer.force": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.gripper.tactile.left_elastomer.force_grid": {
+            "dtype": "float32",
+            "shape": [
+                12,
+                32
+            ]
+        },
+        "obs.state.gripper.tactile.left_elastomer.force_grid_norm": {
+            "dtype": "float32",
+            "shape": [
+                12,
+                32
+            ]
+        },
+        "obs.state.gripper.tactile.left_elastomer.force_norm": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "obs.state.gripper.tactile.left_elastomer.points": {
+            "dtype": "float32",
+            "shape": [
+                384,
+                4
+            ]
+        },
+        "obs.state.gripper.tactile.left_elastomer.points_raw": {
+            "dtype": "float32",
+            "shape": [
+                384,
+                4
+            ]
+        },
+        "obs.state.gripper.tactile.left_elastomer.pos": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.gripper.tactile.left_elastomer.quat": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ]
+        },
+        "reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "success": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "failure": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ]
+        },
+        "obs.state.gripper.tactile.right_elastomer.contact": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "obs.state.gripper.tactile.right_elastomer.force": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.gripper.tactile.right_elastomer.force_grid": {
+            "dtype": "float32",
+            "shape": [
+                12,
+                32
+            ]
+        },
+        "obs.state.gripper.tactile.right_elastomer.force_grid_norm": {
+            "dtype": "float32",
+            "shape": [
+                12,
+                32
+            ]
+        },
+        "obs.state.gripper.tactile.right_elastomer.force_norm": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "obs.state.gripper.tactile.right_elastomer.points": {
+            "dtype": "float32",
+            "shape": [
+                384,
+                4
+            ]
+        },
+        "obs.state.gripper.tactile.right_elastomer.points_raw": {
+            "dtype": "float32",
+            "shape": [
+                384,
+                4
+            ]
+        },
+        "obs.state.gripper.tactile.right_elastomer.pos": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.gripper.tactile.right_elastomer.quat": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ]
+        },
+        "obs.state.gripper.tactile.tactile_points": {
+            "dtype": "float32",
+            "shape": [
+                768,
+                4
+            ]
+        },
+        "obs.state.gripper.tactile.tactile_points_raw": {
+            "dtype": "float32",
+            "shape": [
+                768,
+                4
+            ]
+        },
+        "obs.state.gripper.tcp_pos": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.gripper.tcp_quat": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ]
+        },
+        "obs.state.manipulator.eef_pos": {
+            "dtype": "float32",
+            "shape": [
+                1,
+                3
+            ]
+        },
+        "obs.state.manipulator.eef_quat": {
+            "dtype": "float32",
+            "shape": [
+                1,
+                4
+            ]
+        },
+        "obs.state.manipulator.qpos": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ]
+        },
+        "obs.state.manipulator.qtorque": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ]
+        },
+        "obs.state.manipulator.qvel": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ]
+        },
+        "obs.state.other.action": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ]
+        },
+        "obs.state.other.cube_pos": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.other.cube_quat": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ]
+        },
+        "obs.state.other.goal_pos": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.other.last_action": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ]
+        },
+        "obs.cameras.front.depth": {
+            "dtype": "float32",
+            "shape": [
+                224,
+                224
+            ]
+        },
+        "obs.cameras.front.rgb": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "obs.cameras.right_side.depth": {
+            "dtype": "float32",
+            "shape": [
+                224,
+                224
+            ]
+        },
+        "obs.cameras.right_side.rgb": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "obs.cameras.wrist.depth": {
+            "dtype": "float32",
+            "shape": [
+                224,
+                224
+            ]
+        },
+        "obs.cameras.wrist.rgb": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "task": "push",
+    "options": null
+}

meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:618500044f4b3d5d82bd4e76ea9013cdbfae311bd9bda833bea2fe9b3711b998
+size 2116

videos/obs.cameras.front.rgb/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57275c06639a5c286534fb3f71f9deb06a6799152bbabc16cbc379c9f40e29e1
+size 11012006

videos/obs.cameras.right_side.rgb/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab78e3e5864ada9e91b79f9c20b5bced265ca72b7c5a7b07420128e3d2bec8c4
+size 15153235

videos/obs.cameras.wrist.rgb/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed493130dc0c31103837f41b0a932b0844f8ce591166a2439350020b2d460466
+size 10348341