bkgrf commited on
Commit
baa61fa
·
verified ·
1 Parent(s): ad35157

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c1aaded5c4436c8f540a8777191ad96a16c2f547776befd247f5b5a9e19c2b00
3
+ size 88626
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:588768cef10c6c2d035bbb5a8fe1c8a1b18bbb1de72a476a3a11cf47ad9a008a
3
+ size 86656
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Testing episode recording for Trossen AI Mobile."], "length": 894}
2
+ {"episode_index": 1, "tasks": ["Testing episode recording for Trossen AI Mobile."], "length": 894}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-0.4724574685096741, -0.002479590941220522, 0.0032425420358777046, -0.2458609938621521, -0.5437933802604675, -0.09136339277029037, -0.0005791280418634415, -0.000572213320992887, -0.002861066721379757, 0.005912871100008488, -0.6555657386779785, -1.0889219045639038, -0.4060807228088379, -0.0008027683943510056, -0.016952045261859894, -0.025164982303977013], "max": [0.005912871100008488, 1.8389028310775757, 1.2430380582809448, 0.6948577165603638, 1.1942092180252075, 0.4045548141002655, 0.014284590259194374, 0.7612344622612, 2.1620125770568848, 1.1476691961288452, 0.6322957277297974, 0.5399786233901978, 0.010490577667951584, 0.02979586273431778, 0.008476022630929947, 0.02058953046798706], "mean": [-0.220687597990036, 0.8585858941078186, 0.43060827255249023, 0.23167182505130768, 0.23524989187717438, 0.0751398354768753, 0.0015729847364127636, 0.28914475440979004, 0.9533162117004395, 0.5317893028259277, 0.06683243066072464, -0.20173810422420502, -0.1591450572013855, 0.006232404615730047, -2.694603244890459e-05, 1.0235909030598123e-05], "std": [0.18256910145282745, 0.7344527244567871, 0.48568880558013916, 0.2341853678226471, 0.5735343098640442, 0.09298670291900635, 0.0040786718018352985, 0.1803349405527115, 0.752370297908783, 0.4726484715938568, 0.29050180315971375, 0.5141651630401611, 0.1275852918624878, 0.011460977606475353, 0.001979515887796879, 0.0058159842155873775], "count": [894]}, "observation.state": {"min": [-0.4728389382362366, -0.00019073777366429567, 0.002861066721379757, -0.2447165697813034, -0.5437933802604675, -0.09136339277029037, -0.00020870380103588104, -0.000572213320992887, -0.000572213320992887, 0.005912871100008488, -0.6960021257400513, -1.0900664329528809, -0.404173344373703, -0.00015196017920970917, 0.03571533411741257, 0.05530325323343277, 0.17182418704032898, -0.016952045261859894, -0.025164982303977013], "max": [0.005531395319849253, 1.8408102989196777, 1.2426565885543823, 0.6921873688697815, 1.191157341003418, 0.4022659659385681, 0.014264477416872978, 0.7608529925346375, 2.126535415649414, 1.1457618474960327, 0.6315327882766724, 0.536163866519928, 0.010109102353453636, 0.02980245277285576, 0.04040463641285896, 0.05613451078534126, 0.17841726541519165, 0.008476022630929947, 0.02058953046798706], "mean": [-0.2206803262233734, 0.8609488010406494, 0.4318191707134247, 0.2329971343278885, 0.23524858057498932, 0.07476348429918289, 0.002224804600700736, 0.2886679470539093, 0.9554491639137268, 0.5329810976982117, 0.06811724603176117, -0.20220205187797546, -0.15925000607967377, 0.006814933847635984, 0.038526616990566254, 0.05580289661884308, 0.17452192306518555, -2.694603244890459e-05, 1.0235909030598123e-05], "std": [0.18278944492340088, 0.7333073019981384, 0.48521658778190613, 0.2348572015762329, 0.5735129714012146, 0.09323054552078247, 0.004034481942653656, 0.18072083592414856, 0.750129222869873, 0.4719521105289459, 0.2919684648513794, 0.5141865611076355, 0.12779128551483154, 0.01118552964180708, 0.0007809827220626175, 0.00013833786942996085, 0.001534038339741528, 0.001979515887796879, 0.0058159842155873775], "count": [894]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5267556776033522]], [[0.5308156301375356]], [[0.524238694915594]]], "std": [[[0.3127362412224635]], [[0.31596304429579897]], [[0.3174428291879413]]], "count": [163]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39006964869281047]], [[0.40646468758771404]], [[0.3916728843377842]]], "std": [[[0.3083922834986656]], [[0.2973769622523804]], [[0.30823830983144335]]], "count": [163]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39958144873491314]], [[0.41116561911062993]], [[0.39472956513893903]]], "std": [[[0.2838124053627374]], [[0.27548048026175553]], [[0.28458063944765216]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.766666666666666], "mean": [14.883333333333335], "std": [8.602513629209822], "count": [894]}, "frame_index": {"min": [0], "max": [893], "mean": [446.5], "std": [258.07540887629466], "count": [894]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [894]}, "index": {"min": [0], "max": [893], "mean": [446.5], "std": [258.07540887629466], "count": [894]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [894]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-0.5251010656356812, 0.004005493130534887, 0.09403372555971146, -0.3843366205692291, -0.483138769865036, -0.11081864684820175, -0.0006659124046564102, -0.000572213320992887, 0.3427557647228241, 0.029564354568719864, -0.576218843460083, -0.5632486343383789, -0.18940261006355286, -0.0008328091353178024, -0.007137703709304333, -0.02058953046798706], "max": [-0.00019073777366429567, 1.8907835483551025, 1.1514838933944702, 0.761997401714325, 1.2891966104507446, 0.42820629477500916, 0.01591682806611061, 0.7936598658561707, 2.094491481781006, 1.2224383354187012, 0.8539330363273621, 0.5548561811447144, 0.49496451020240784, 0.02932855673134327, 0.011598767712712288, 0.03660361096262932], "mean": [-0.23699140548706055, 0.9358545541763306, 0.5000693202018738, 0.07467430830001831, 0.2154572457075119, 0.08163407444953918, 0.0007505936664529145, 0.4519467353820801, 1.1746280193328857, 0.4569450914859772, 0.2993544638156891, 0.05011211708188057, 0.021726595237851143, 0.005063157062977552, -1.7465019482187927e-05, 9.980013419408351e-05], "std": [0.1654757261276245, 0.6989133358001709, 0.4096621572971344, 0.32906222343444824, 0.4407590925693512, 0.14058129489421844, 0.00263295229524374, 0.2764342725276947, 0.6232089400291443, 0.3595578372478485, 0.40418779850006104, 0.3669230043888092, 0.1905822604894638, 0.008118199184536934, 0.0015029724454507232, 0.004824114963412285], "count": [894]}, "observation.state": {"min": [-0.5258640646934509, 0.004005493130534887, 0.09403372555971146, -0.3858625292778015, -0.4812313914299011, -0.10852979123592377, -0.00017866306006908417, -0.000572213320992887, 0.3419928252696991, 0.029182879254221916, -0.5823224186897278, -0.5678263306617737, -0.19016556441783905, -0.00012859515845775604, 0.03604412451386452, 0.0553603395819664, 0.17260430753231049, -0.007137703709304333, -0.02058953046798706], "max": [-0.00019073777366429567, 1.892690896987915, 1.1511024236679077, 0.7623788714408875, 1.2880522012710571, 0.42706188559532166, 0.015896715223789215, 0.7936598658561707, 2.0838100910186768, 1.2212939262390137, 0.8539330363273621, 0.5540932416915894, 0.4957274794578552, 0.029251698404550552, 0.039111871272325516, 0.0559067577123642, 0.1774611473083496, 0.011598767712712288, 0.03660361096262932], "mean": [-0.2368561178445816, 0.9381349682807922, 0.5009323954582214, 0.07627485692501068, 0.2153463363647461, 0.08157264441251755, 0.0012914059916511178, 0.44983479380607605, 1.176072597503662, 0.4579334259033203, 0.29981729388237, 0.048609714955091476, 0.02192758582532406, 0.0055365245789289474, 0.038206685334444046, 0.055745679885149, 0.17591333389282227, -1.7465019482187927e-05, 9.980013419408351e-05], "std": [0.1658458113670349, 0.6975752115249634, 0.4092644155025482, 0.3300631046295166, 0.44080448150634766, 0.14055199921131134, 0.002712767804041505, 0.27684324979782104, 0.6217522621154785, 0.3590141236782074, 0.40458065271377563, 0.36629122495651245, 0.19054487347602844, 0.007862345315515995, 0.00044948511640541255, 7.984212425071746e-05, 0.0004784166521858424, 0.0015029724454507232, 0.004824114963412285], "count": [894]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5366758415533903]], [[0.5424878516079233]], [[0.5332331112915515]]], "std": [[[0.3092759448028974]], [[0.3144277604709907]], [[0.31075733486718216]]], "count": [163]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4138742256104896]], [[0.4279881222683347]], [[0.4132440580015237]]], "std": [[[0.2780891609168502]], [[0.26495716246505796]], [[0.27462692075415296]]], "count": [163]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41122370834837]], [[0.4220811053971691]], [[0.4046243596876378]]], "std": [[[0.266774769915737]], [[0.25851202645448945]], [[0.26767725973464945]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.766666666666666], "mean": [14.883333333333335], "std": [8.602513629209822], "count": [894]}, "frame_index": {"min": [0], "max": [893], "mean": [446.5], "std": [258.07540887629466], "count": [894]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [894]}, "index": {"min": [894], "max": [1787], "mean": [1340.5], "std": [258.07540887629466], "count": [894]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [894]}}}
meta/info.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "trossen_subversion": "v1.0",
4
+ "robot_type": "trossen_ai_mobile",
5
+ "total_episodes": 2,
6
+ "total_frames": 1788,
7
+ "total_tasks": 1,
8
+ "total_videos": 6,
9
+ "total_chunks": 1,
10
+ "chunks_size": 1000,
11
+ "fps": 30,
12
+ "splits": {
13
+ "train": "0:2"
14
+ },
15
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
16
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
17
+ "features": {
18
+ "action": {
19
+ "dtype": "float32",
20
+ "shape": [
21
+ 16
22
+ ],
23
+ "names": [
24
+ "linear_vel",
25
+ "angular_vel",
26
+ "left_joint_0",
27
+ "left_joint_1",
28
+ "left_joint_2",
29
+ "left_joint_3",
30
+ "left_joint_4",
31
+ "left_joint_5",
32
+ "left_joint_6",
33
+ "right_joint_0",
34
+ "right_joint_1",
35
+ "right_joint_2",
36
+ "right_joint_3",
37
+ "right_joint_4",
38
+ "right_joint_5",
39
+ "right_joint_6"
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "dtype": "float32",
44
+ "shape": [
45
+ 19
46
+ ],
47
+ "names": [
48
+ "odom_x",
49
+ "odom_y",
50
+ "odom_theta",
51
+ "linear_vel",
52
+ "angular_vel",
53
+ "left_joint_0",
54
+ "left_joint_1",
55
+ "left_joint_2",
56
+ "left_joint_3",
57
+ "left_joint_4",
58
+ "left_joint_5",
59
+ "left_joint_6",
60
+ "right_joint_0",
61
+ "right_joint_1",
62
+ "right_joint_2",
63
+ "right_joint_3",
64
+ "right_joint_4",
65
+ "right_joint_5",
66
+ "right_joint_6"
67
+ ]
68
+ },
69
+ "observation.images.cam_high": {
70
+ "dtype": "video",
71
+ "shape": [
72
+ 480,
73
+ 640,
74
+ 3
75
+ ],
76
+ "names": [
77
+ "height",
78
+ "width",
79
+ "channels"
80
+ ],
81
+ "info": {
82
+ "video.fps": 30.0,
83
+ "video.height": 480,
84
+ "video.width": 640,
85
+ "video.channels": 3,
86
+ "video.codec": "av1",
87
+ "video.pix_fmt": "yuv420p",
88
+ "video.is_depth_map": false,
89
+ "has_audio": false
90
+ }
91
+ },
92
+ "observation.images.cam_left_wrist": {
93
+ "dtype": "video",
94
+ "shape": [
95
+ 480,
96
+ 640,
97
+ 3
98
+ ],
99
+ "names": [
100
+ "height",
101
+ "width",
102
+ "channels"
103
+ ],
104
+ "info": {
105
+ "video.fps": 30.0,
106
+ "video.height": 480,
107
+ "video.width": 640,
108
+ "video.channels": 3,
109
+ "video.codec": "av1",
110
+ "video.pix_fmt": "yuv420p",
111
+ "video.is_depth_map": false,
112
+ "has_audio": false
113
+ }
114
+ },
115
+ "observation.images.cam_right_wrist": {
116
+ "dtype": "video",
117
+ "shape": [
118
+ 480,
119
+ 640,
120
+ 3
121
+ ],
122
+ "names": [
123
+ "height",
124
+ "width",
125
+ "channels"
126
+ ],
127
+ "info": {
128
+ "video.fps": 30.0,
129
+ "video.height": 480,
130
+ "video.width": 640,
131
+ "video.channels": 3,
132
+ "video.codec": "av1",
133
+ "video.pix_fmt": "yuv420p",
134
+ "video.is_depth_map": false,
135
+ "has_audio": false
136
+ }
137
+ },
138
+ "timestamp": {
139
+ "dtype": "float32",
140
+ "shape": [
141
+ 1
142
+ ],
143
+ "names": null
144
+ },
145
+ "frame_index": {
146
+ "dtype": "int64",
147
+ "shape": [
148
+ 1
149
+ ],
150
+ "names": null
151
+ },
152
+ "episode_index": {
153
+ "dtype": "int64",
154
+ "shape": [
155
+ 1
156
+ ],
157
+ "names": null
158
+ },
159
+ "index": {
160
+ "dtype": "int64",
161
+ "shape": [
162
+ 1
163
+ ],
164
+ "names": null
165
+ },
166
+ "task_index": {
167
+ "dtype": "int64",
168
+ "shape": [
169
+ 1
170
+ ],
171
+ "names": null
172
+ }
173
+ }
174
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Testing episode recording for Trossen AI Mobile."}
videos/chunk-000/observation.images.cam_high/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3ea284d1f1b6c6352caa4ec663cb74ba7470d790ebc1343a4f465b7a33275b06
3
+ size 3920200
videos/chunk-000/observation.images.cam_high/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93dbeb845911a2d33b8f1205c2cf6e7d590ea170e14b9a12849d2083b1b89d8e
3
+ size 4705945
videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:617f71df7095dbd7e99cd37f973d166b1e915a802311ee0534d398a757f73fc9
3
+ size 4546518
videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:08ab7812dc488d45b2fca709b755f0d71eef1ca03e218fd31433b7dc2507cfe4
3
+ size 3944119
videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f1f7f8b689e45bd078b882b4dab84b8995b68b225f1ab8d4c632aa2709bbe00b
3
+ size 4042699
videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9dc3055b18058a7ddd575a2273529ad3998f66dc8b225869abe3665b82dba21c
3
+ size 4019140