cbrian commited on
Commit
df04e17
·
verified ·
1 Parent(s): b5a0681

Upload folder using huggingface_hub

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:04889f4bdae068343748eae326c65d01a8d568842a28b5585988ff19ee58822b
3
+ size 6279524
meta/crisp_meta.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "crisp_gym_version": "4.2.0",
3
+ "crisp_py_version": "3.0.0",
4
+ "control_type": "CARTESIAN",
5
+ "env_config": {
6
+ "robot_config": {
7
+ "joint_names": [
8
+ "panda_joint1",
9
+ "panda_joint2",
10
+ "panda_joint3",
11
+ "panda_joint4",
12
+ "panda_joint5",
13
+ "panda_joint6",
14
+ "panda_joint7"
15
+ ],
16
+ "home_config": [
17
+ 0,
18
+ -0.7853981633974483,
19
+ 0,
20
+ -2.356194490192345,
21
+ 0,
22
+ 1.5707963267948966,
23
+ 0.7853981633974483
24
+ ],
25
+ "base_frame": "base",
26
+ "target_frame": "panda_hand_tcp",
27
+ "default_controller": "cartesian_impedance_controller",
28
+ "cartesian_impedance_controller_name": "cartesian_impedance_controller",
29
+ "joint_trajectory_controller_name": "joint_impedance_controller",
30
+ "target_pose_topic": "target_pose",
31
+ "target_joint_topic": "target_joint",
32
+ "current_pose_topic": "current_pose",
33
+ "current_joint_topic": "joint_states",
34
+ "current_twist_topic": "current_twist",
35
+ "publish_frequency": 50.0,
36
+ "time_to_home": 5.0,
37
+ "max_pose_delay": 1.0,
38
+ "max_joint_delay": 1.0,
39
+ "use_tf_pose": false,
40
+ "tf_retrieve_rate": 50.0,
41
+ "use_prefix": false
42
+ },
43
+ "gripper_config": {
44
+ "min_value": 0.0,
45
+ "max_value": 0.08,
46
+ "command_topic": "/left/gripper/gripper_position_controller/commands",
47
+ "closing_command_topic": "/left/gripper/gripper_closing_controller/commands",
48
+ "joint_state_topic": "/left/gripper/joint_states",
49
+ "closing_state_topic": "/left/gripper/closing_state",
50
+ "reboot_service": "reboot_gripper",
51
+ "stop_service": "/left/panda_gripper/stop",
52
+ "enable_torque_service": "dynamixel_hardware_interface/set_dxl_torque",
53
+ "index": 0,
54
+ "publish_frequency": 30.0,
55
+ "max_joint_delay": 1.0,
56
+ "max_delta": 0.1
57
+ },
58
+ "camera_config": [
59
+ {
60
+ "camera_color_image_topic": "/camera/third_person_camera/color/image_raw",
61
+ "camera_color_info_topic": "/camera/third_person_camera/color/camera_info",
62
+ "camera_name": "primary",
63
+ "camera_frame": "primary_link",
64
+ "max_image_delay": 1.0,
65
+ "resolution": [
66
+ 256,
67
+ 256
68
+ ],
69
+ "crop_width": null,
70
+ "crop_height": null
71
+ },
72
+ {
73
+ "camera_color_image_topic": "/camera/wrist_camera/color/image_raw",
74
+ "camera_color_info_topic": "/camera/wrist_camera/color/camera_info",
75
+ "camera_name": "wrist",
76
+ "camera_frame": "wrist_link",
77
+ "max_image_delay": 1.0,
78
+ "resolution": [
79
+ 256,
80
+ 256
81
+ ],
82
+ "crop_width": null,
83
+ "crop_height": null
84
+ }
85
+ ],
86
+ "sensor_config": [],
87
+ "gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
88
+ "gripper_threshold": 0.1,
89
+ "cartesian_control_param_config": "/home/cbrian/crisp_gym_debug/crisp_gym_ITR/.pixi/envs/jazzy-lerobot/lib/python3.12/site-packages/crisp_py/config/control/default_cartesian_impedance.yaml",
90
+ "joint_control_param_config": "/home/cbrian/crisp_gym_debug/crisp_gym_ITR/.pixi/envs/jazzy-lerobot/lib/python3.12/site-packages/crisp_py/config/control/joint_control.yaml",
91
+ "orientation_representation": "OrientationRepresentation.EULER",
92
+ "use_relative_actions": true
93
+ }
94
+ }
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:abee1849ec32f638b8752592b13845a2415e4e0379203e18f3ff1f325bc11a0b
3
+ size 610160
meta/info.json ADDED
@@ -0,0 +1,208 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "panda",
4
+ "total_episodes": 71,
5
+ "total_frames": 24011,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:71"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.images.primary": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channels"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 30.0,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ },
36
+ "info": {
37
+ "video.height": 256,
38
+ "video.width": 256,
39
+ "video.codec": "av1",
40
+ "video.pix_fmt": "yuv420p",
41
+ "video.is_depth_map": false,
42
+ "video.fps": 15,
43
+ "video.channels": 3,
44
+ "has_audio": false
45
+ }
46
+ },
47
+ "observation.images.wrist": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 256,
51
+ 256,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "video_info": {
60
+ "video.fps": 30.0,
61
+ "video.codec": "av1",
62
+ "video.pix_fmt": "yuv420p",
63
+ "video.is_depth_map": false,
64
+ "has_audio": false
65
+ },
66
+ "info": {
67
+ "video.height": 256,
68
+ "video.width": 256,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 15,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "observation.state.cartesian": {
78
+ "dtype": "float32",
79
+ "shape": [
80
+ 6
81
+ ],
82
+ "names": [
83
+ "x",
84
+ "y",
85
+ "z",
86
+ "roll",
87
+ "pitch",
88
+ "yaw"
89
+ ]
90
+ },
91
+ "observation.state.gripper": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": [
97
+ "gripper"
98
+ ]
99
+ },
100
+ "observation.state.joints": {
101
+ "dtype": "float32",
102
+ "shape": [
103
+ 7
104
+ ],
105
+ "names": [
106
+ "joint_0",
107
+ "joint_1",
108
+ "joint_2",
109
+ "joint_3",
110
+ "joint_4",
111
+ "joint_5",
112
+ "joint_6"
113
+ ]
114
+ },
115
+ "observation.state.target": {
116
+ "dtype": "float32",
117
+ "shape": [
118
+ 6
119
+ ],
120
+ "names": [
121
+ "target_x",
122
+ "target_y",
123
+ "target_z",
124
+ "target_roll",
125
+ "target_pitch",
126
+ "target_yaw"
127
+ ]
128
+ },
129
+ "observation.state": {
130
+ "dtype": "float32",
131
+ "shape": [
132
+ 20
133
+ ],
134
+ "names": [
135
+ "x",
136
+ "y",
137
+ "z",
138
+ "roll",
139
+ "pitch",
140
+ "yaw",
141
+ "gripper",
142
+ "joint_0",
143
+ "joint_1",
144
+ "joint_2",
145
+ "joint_3",
146
+ "joint_4",
147
+ "joint_5",
148
+ "joint_6",
149
+ "target_x",
150
+ "target_y",
151
+ "target_z",
152
+ "target_roll",
153
+ "target_pitch",
154
+ "target_yaw"
155
+ ]
156
+ },
157
+ "action": {
158
+ "dtype": "float32",
159
+ "shape": [
160
+ 7
161
+ ],
162
+ "names": [
163
+ "x",
164
+ "y",
165
+ "z",
166
+ "roll",
167
+ "pitch",
168
+ "yaw",
169
+ "gripper"
170
+ ]
171
+ },
172
+ "timestamp": {
173
+ "dtype": "float32",
174
+ "shape": [
175
+ 1
176
+ ],
177
+ "names": null
178
+ },
179
+ "frame_index": {
180
+ "dtype": "int64",
181
+ "shape": [
182
+ 1
183
+ ],
184
+ "names": null
185
+ },
186
+ "episode_index": {
187
+ "dtype": "int64",
188
+ "shape": [
189
+ 1
190
+ ],
191
+ "names": null
192
+ },
193
+ "index": {
194
+ "dtype": "int64",
195
+ "shape": [
196
+ 1
197
+ ],
198
+ "names": null
199
+ },
200
+ "task_index": {
201
+ "dtype": "int64",
202
+ "shape": [
203
+ 1
204
+ ],
205
+ "names": null
206
+ }
207
+ }
208
+ }
meta/stats.json ADDED
@@ -0,0 +1,1039 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state.joints": {
3
+ "min": [
4
+ -0.36555689573287964,
5
+ -0.79139643907547,
6
+ -0.28612110018730164,
7
+ -2.9160101413726807,
8
+ -0.07166637480258942,
9
+ 1.5651898384094238,
10
+ 0.7248340249061584
11
+ ],
12
+ "max": [
13
+ 0.2561173737049103,
14
+ 0.9269512891769409,
15
+ 0.29409217834472656,
16
+ -1.3908720016479492,
17
+ 0.3454619348049164,
18
+ 2.948124885559082,
19
+ 1.2524783611297607
20
+ ],
21
+ "mean": [
22
+ -0.08028432678887878,
23
+ 0.11769867453941245,
24
+ -0.044676729173480846,
25
+ -2.1981577878343703,
26
+ 0.015259936578865277,
27
+ 2.310183793997694,
28
+ 0.8549687621455554
29
+ ],
30
+ "std": [
31
+ 0.1378412733431474,
32
+ 0.5853142077353901,
33
+ 0.1229221025447112,
34
+ 0.22649370843306973,
35
+ 0.023003528318014062,
36
+ 0.4650148185137636,
37
+ 0.07262163601415955
38
+ ],
39
+ "count": [
40
+ 24011
41
+ ],
42
+ "q01": [
43
+ -0.2828196297748627,
44
+ -0.7851868916626904,
45
+ -0.2071494247978689,
46
+ -2.4633365279298496,
47
+ -0.0003071888864122349,
48
+ 1.571379258871863,
49
+ 0.7867163773375059
50
+ ],
51
+ "q10": [
52
+ -0.282704954301183,
53
+ -0.7850068477704744,
54
+ -0.20400673948810363,
55
+ -2.4267241583310892,
56
+ 0.0010855971014400434,
57
+ 1.571379258871863,
58
+ 0.7898257477528423
59
+ ],
60
+ "q50": [
61
+ -0.001901409354478803,
62
+ 0.4015279846543276,
63
+ -0.008060454836824632,
64
+ -2.20600947768078,
65
+ 0.015952853333830428,
66
+ 2.5859129010886877,
67
+ 0.8683099961288601
68
+ ],
69
+ "q90": [
70
+ 0.02895764667809333,
71
+ 0.6645444748965267,
72
+ 0.08434890280692656,
73
+ -1.924361299646212,
74
+ 0.029127817747776487,
75
+ 2.711799494357225,
76
+ 0.899468424849264
77
+ ],
78
+ "q99": [
79
+ 0.029692959550496004,
80
+ 0.6672350848484534,
81
+ 0.09256811607458514,
82
+ -1.917833860955786,
83
+ 0.03243226906951448,
84
+ 2.7187155189209777,
85
+ 0.9031717460207437
86
+ ]
87
+ },
88
+ "observation.images.wrist": {
89
+ "min": [
90
+ [
91
+ [
92
+ 0.0
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 0.0
98
+ ]
99
+ ],
100
+ [
101
+ [
102
+ 0.0
103
+ ]
104
+ ]
105
+ ],
106
+ "max": [
107
+ [
108
+ [
109
+ 1.0
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 1.0
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 1.0
120
+ ]
121
+ ]
122
+ ],
123
+ "mean": [
124
+ [
125
+ [
126
+ 0.4130426148270021
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.4134630452271686
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.39680618723542976
137
+ ]
138
+ ]
139
+ ],
140
+ "std": [
141
+ [
142
+ [
143
+ 0.011591247410924944
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.009608766136229931
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.012458682044815038
154
+ ]
155
+ ]
156
+ ],
157
+ "count": [
158
+ 7100
159
+ ],
160
+ "q01": [
161
+ [
162
+ [
163
+ 0.11350522653147097
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.1344433622027051
169
+ ]
170
+ ],
171
+ [
172
+ [
173
+ 0.07849012751415453
174
+ ]
175
+ ]
176
+ ],
177
+ "q10": [
178
+ [
179
+ [
180
+ 0.21733051097521616
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.2606369134468243
186
+ ]
187
+ ],
188
+ [
189
+ [
190
+ 0.23275299625408064
191
+ ]
192
+ ]
193
+ ],
194
+ "q50": [
195
+ [
196
+ [
197
+ 0.3657396042874081
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.390174520949794
203
+ ]
204
+ ],
205
+ [
206
+ [
207
+ 0.38369241185687336
208
+ ]
209
+ ]
210
+ ],
211
+ "q90": [
212
+ [
213
+ [
214
+ 0.6692001610500812
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.5936043667750142
220
+ ]
221
+ ],
222
+ [
223
+ [
224
+ 0.5660281418906832
225
+ ]
226
+ ]
227
+ ],
228
+ "q99": [
229
+ [
230
+ [
231
+ 0.9924101306998502
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.8229114985910937
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.816224869361461
242
+ ]
243
+ ]
244
+ ]
245
+ },
246
+ "task_index": {
247
+ "min": [
248
+ 0
249
+ ],
250
+ "max": [
251
+ 0
252
+ ],
253
+ "mean": [
254
+ 0.0
255
+ ],
256
+ "std": [
257
+ 0.0
258
+ ],
259
+ "count": [
260
+ 24011
261
+ ],
262
+ "q01": [
263
+ 3.999999999999419e-16
264
+ ],
265
+ "q10": [
266
+ 3.999999999999417e-15
267
+ ],
268
+ "q50": [
269
+ 1.999999999999708e-14
270
+ ],
271
+ "q90": [
272
+ 3.5999999999994735e-14
273
+ ],
274
+ "q99": [
275
+ 3.959999999999423e-14
276
+ ]
277
+ },
278
+ "action": {
279
+ "min": [
280
+ -0.007779289968311787,
281
+ -0.019818538799881935,
282
+ -0.015611893497407436,
283
+ -0.022261682897806168,
284
+ -0.024213599041104317,
285
+ -0.05980859696865082,
286
+ 0.0
287
+ ],
288
+ "max": [
289
+ 0.013944276608526707,
290
+ 0.009056886658072472,
291
+ 0.013418748043477535,
292
+ 0.016378222033381462,
293
+ 0.030545486137270927,
294
+ 0.03324069827795029,
295
+ 1.0
296
+ ],
297
+ "mean": [
298
+ 0.0007078561813648987,
299
+ -0.0008859355311776696,
300
+ -0.0012805334877972999,
301
+ -0.0002482780655338297,
302
+ 2.839064286644209e-05,
303
+ -0.0016572014774852092,
304
+ 0.25375869482436675
305
+ ],
306
+ "std": [
307
+ 0.0019254041318563066,
308
+ 0.002921680063640863,
309
+ 0.0032939453804727617,
310
+ 0.001748229114667295,
311
+ 0.00387903967755366,
312
+ 0.0054417322096505785,
313
+ 0.4351611438519914
314
+ ],
315
+ "count": [
316
+ 24011
317
+ ],
318
+ "q01": [
319
+ -0.0032728322566657445,
320
+ -0.012201363644236653,
321
+ -0.009021308555066136,
322
+ -0.006284760195344917,
323
+ -0.011617887776298392,
324
+ -0.021711173456117297,
325
+ -1.000000013351432e-10
326
+ ],
327
+ "q10": [
328
+ -0.0006125092064526466,
329
+ -0.004211599003951954,
330
+ -0.006288968830325078,
331
+ -0.0020838165155244695,
332
+ -0.004504147262586879,
333
+ -0.007625873816697204,
334
+ -1.000000013351432e-10
335
+ ],
336
+ "q50": [
337
+ 1.7477356442281595e-06,
338
+ -1.0077142922790092e-05,
339
+ -2.0927410303867608e-05,
340
+ -1.2825915896238102e-06,
341
+ 1.623225261833649e-06,
342
+ -1.0470063814047696e-05,
343
+ -1.000000013351432e-10
344
+ ],
345
+ "q90": [
346
+ 0.0034734088110161404,
347
+ 0.0006874104820231396,
348
+ 0.000550140056980801,
349
+ 0.0012803214178202626,
350
+ 0.004131615102987493,
351
+ 0.0009123290959750236,
352
+ 0.9999198287743888
353
+ ],
354
+ "q99": [
355
+ 0.006486255156793328,
356
+ 0.0031886604648006045,
357
+ 0.007477680320704228,
358
+ 0.0035832027882607693,
359
+ 0.01148407577209519,
360
+ 0.0066605463747914425,
361
+ 0.9999919828774384
362
+ ]
363
+ },
364
+ "observation.state.gripper": {
365
+ "min": [
366
+ 0.0046082064509391785
367
+ ],
368
+ "max": [
369
+ 0.5310578942298889
370
+ ],
371
+ "mean": [
372
+ 0.12377446000902752
373
+ ],
374
+ "std": [
375
+ 0.20113559122924504
376
+ ],
377
+ "count": [
378
+ 24011
379
+ ],
380
+ "q01": [
381
+ 0.004667090109071718
382
+ ],
383
+ "q10": [
384
+ 0.004667090109071718
385
+ ],
386
+ "q50": [
387
+ 0.004667090109071718
388
+ ],
389
+ "q90": [
390
+ 0.4737146407485847
391
+ ],
392
+ "q99": [
393
+ 0.4751783602706564
394
+ ]
395
+ },
396
+ "index": {
397
+ "min": [
398
+ 0
399
+ ],
400
+ "max": [
401
+ 24010
402
+ ],
403
+ "mean": [
404
+ 12005.0
405
+ ],
406
+ "std": [
407
+ 6931.378650744744
408
+ ],
409
+ "count": [
410
+ 24011
411
+ ],
412
+ "q01": [
413
+ 11837.503739479476
414
+ ],
415
+ "q10": [
416
+ 11868.217326976719
417
+ ],
418
+ "q50": [
419
+ 12004.818681929117
420
+ ],
421
+ "q90": [
422
+ 12141.687697137228
423
+ ],
424
+ "q99": [
425
+ 12172.496260520524
426
+ ]
427
+ },
428
+ "episode_index": {
429
+ "min": [
430
+ 0
431
+ ],
432
+ "max": [
433
+ 70
434
+ ],
435
+ "mean": [
436
+ 35.116529923784924
437
+ ],
438
+ "std": [
439
+ 20.751543172826796
440
+ ],
441
+ "count": [
442
+ 24011
443
+ ],
444
+ "q01": [
445
+ 35.116529923784924
446
+ ],
447
+ "q10": [
448
+ 35.116529923784924
449
+ ],
450
+ "q50": [
451
+ 35.11652992378495
452
+ ],
453
+ "q90": [
454
+ 35.11652992378495
455
+ ],
456
+ "q99": [
457
+ 35.11652992378495
458
+ ]
459
+ },
460
+ "frame_index": {
461
+ "min": [
462
+ 0
463
+ ],
464
+ "max": [
465
+ 451
466
+ ],
467
+ "mean": [
468
+ 170.46049727208361
469
+ ],
470
+ "std": [
471
+ 100.98550112430578
472
+ ],
473
+ "count": [
474
+ 24011
475
+ ],
476
+ "q01": [
477
+ 2.9642367515572294
478
+ ],
479
+ "q10": [
480
+ 33.67782424880569
481
+ ],
482
+ "q50": [
483
+ 170.27608205405843
484
+ ],
485
+ "q90": [
486
+ 307.1481944093092
487
+ ],
488
+ "q99": [
489
+ 337.95675779261006
490
+ ]
491
+ },
492
+ "observation.state.target": {
493
+ "min": [
494
+ 0.2924121022224426,
495
+ -0.3524710536003113,
496
+ 0.01279701292514801,
497
+ -3.141592502593994,
498
+ -0.25283846259117126,
499
+ -0.8450496196746826
500
+ ],
501
+ "max": [
502
+ 0.7366000413894653,
503
+ 0.24512070417404175,
504
+ 0.5002957582473755,
505
+ 3.141591787338257,
506
+ 0.20241104066371918,
507
+ 0.3887965679168701
508
+ ],
509
+ "mean": [
510
+ 0.47589808840489706,
511
+ -0.08104901298260213,
512
+ 0.19171867111419222,
513
+ 0.3427802194474238,
514
+ 0.004778495053573751,
515
+ -0.20980958080672546
516
+ ],
517
+ "std": [
518
+ 0.10819981800372372,
519
+ 0.15344170467383803,
520
+ 0.1821185076543446,
521
+ 3.0770012540342107,
522
+ 0.06153140738548124,
523
+ 0.2511354353399673
524
+ ],
525
+ "count": [
526
+ 24011
527
+ ],
528
+ "q01": [
529
+ 0.306464365750803,
530
+ -0.30190105578077686,
531
+ 0.020732352836721986,
532
+ -3.0647811255310042,
533
+ -0.09410613477307984,
534
+ -0.5695596975901422
535
+ ],
536
+ "q10": [
537
+ 0.3067676437397549,
538
+ -0.2999924728653264,
539
+ 0.027832111647790453,
540
+ -3.061163022986946,
541
+ -0.051273187339128876,
542
+ -0.5616211384473107
543
+ ],
544
+ "q50": [
545
+ 0.5173665753770126,
546
+ -0.004975514441936209,
547
+ 0.09318667115523922,
548
+ 0.307659928205498,
549
+ 0.007746353959284051,
550
+ -0.06303689121088897
551
+ ],
552
+ "q90": [
553
+ 0.5743500440620215,
554
+ 0.05754213888257962,
555
+ 0.48570356714604174,
556
+ 3.115737808960413,
557
+ 0.06984876855590985,
558
+ 0.012007546453542683
559
+ ],
560
+ "q99": [
561
+ 0.5826649713337875,
562
+ 0.06426027470704565,
563
+ 0.4861193137724752,
564
+ 3.1388842749077113,
565
+ 0.1176069144097154,
566
+ 0.03763975299393089
567
+ ]
568
+ },
569
+ "observation.images.primary": {
570
+ "min": [
571
+ [
572
+ [
573
+ 0.0
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.00784313725490196
579
+ ]
580
+ ],
581
+ [
582
+ [
583
+ 0.0
584
+ ]
585
+ ]
586
+ ],
587
+ "max": [
588
+ [
589
+ [
590
+ 1.0
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 1.0
596
+ ]
597
+ ],
598
+ [
599
+ [
600
+ 1.0
601
+ ]
602
+ ]
603
+ ],
604
+ "mean": [
605
+ [
606
+ [
607
+ 0.39857823842324386
608
+ ]
609
+ ],
610
+ [
611
+ [
612
+ 0.39894846902556
613
+ ]
614
+ ],
615
+ [
616
+ [
617
+ 0.36768845319181676
618
+ ]
619
+ ]
620
+ ],
621
+ "std": [
622
+ [
623
+ [
624
+ 0.00355717106107386
625
+ ]
626
+ ],
627
+ [
628
+ [
629
+ 0.0030230898576075332
630
+ ]
631
+ ],
632
+ [
633
+ [
634
+ 0.0031817515922573404
635
+ ]
636
+ ]
637
+ ],
638
+ "count": [
639
+ 7100
640
+ ],
641
+ "q01": [
642
+ [
643
+ [
644
+ 0.10203540094668184
645
+ ]
646
+ ],
647
+ [
648
+ [
649
+ 0.11698344590131175
650
+ ]
651
+ ],
652
+ [
653
+ [
654
+ 0.10562188825751483
655
+ ]
656
+ ]
657
+ ],
658
+ "q10": [
659
+ [
660
+ [
661
+ 0.19927149906800135
662
+ ]
663
+ ],
664
+ [
665
+ [
666
+ 0.23842150994370598
667
+ ]
668
+ ],
669
+ [
670
+ [
671
+ 0.21794401398755853
672
+ ]
673
+ ]
674
+ ],
675
+ "q50": [
676
+ [
677
+ [
678
+ 0.29969129807810746
679
+ ]
680
+ ],
681
+ [
682
+ [
683
+ 0.3448516024990547
684
+ ]
685
+ ],
686
+ [
687
+ [
688
+ 0.31676135314131537
689
+ ]
690
+ ]
691
+ ],
692
+ "q90": [
693
+ [
694
+ [
695
+ 0.7346801616811349
696
+ ]
697
+ ],
698
+ [
699
+ [
700
+ 0.6930987700167647
701
+ ]
702
+ ],
703
+ [
704
+ [
705
+ 0.7041774010176468
706
+ ]
707
+ ]
708
+ ],
709
+ "q99": [
710
+ [
711
+ [
712
+ 0.99477423457143
713
+ ]
714
+ ],
715
+ [
716
+ [
717
+ 0.9993078539473133
718
+ ]
719
+ ],
720
+ [
721
+ [
722
+ 0.9764807035320805
723
+ ]
724
+ ]
725
+ ]
726
+ },
727
+ "observation.state.cartesian": {
728
+ "min": [
729
+ 0.28968262672424316,
730
+ -0.3494202196598053,
731
+ 0.02053685300052166,
732
+ -3.1415882110595703,
733
+ -0.22723563015460968,
734
+ -0.8127349615097046
735
+ ],
736
+ "max": [
737
+ 0.7325760126113892,
738
+ 0.24172019958496094,
739
+ 0.49050530791282654,
740
+ 3.1415915489196777,
741
+ 0.18641851842403412,
742
+ 0.3819117546081543
743
+ ],
744
+ "mean": [
745
+ 0.4705503686879627,
746
+ -0.07799388578169436,
747
+ 0.19342355089107988,
748
+ 0.21494177258819966,
749
+ 0.0007228650062723319,
750
+ -0.19648135692237403
751
+ ],
752
+ "std": [
753
+ 0.10823951059160164,
754
+ 0.15072889429939906,
755
+ 0.18269839723895914,
756
+ 3.088996621422988,
757
+ 0.06032729672262224,
758
+ 0.24482267327611462
759
+ ],
760
+ "count": [
761
+ 24011
762
+ ],
763
+ "q01": [
764
+ 0.3052174462966799,
765
+ -0.2983796516399353,
766
+ 0.023961793275591704,
767
+ -3.1395253708545305,
768
+ -0.08723953602346436,
769
+ -0.5546753172626632
770
+ ],
771
+ "q10": [
772
+ 0.30620725542831045,
773
+ -0.2972503258781435,
774
+ 0.029957048376377124,
775
+ -3.0608834981381388,
776
+ -0.057344336160319954,
777
+ -0.5521733080181045
778
+ ],
779
+ "q50": [
780
+ 0.5132481349437309,
781
+ -0.0046298650559013135,
782
+ 0.09426971786752805,
783
+ -0.47196049375590077,
784
+ 0.007001727833024785,
785
+ -0.055196467560471286
786
+ ],
787
+ "q90": [
788
+ 0.5697775025106666,
789
+ 0.05690341537465069,
790
+ 0.48376851474845867,
791
+ 3.1149145788053003,
792
+ 0.06175290904755176,
793
+ 0.01347645697051622
794
+ ],
795
+ "q99": [
796
+ 0.5812126819865848,
797
+ 0.06322920878850816,
798
+ 0.4839473045066631,
799
+ 3.1383144115544552,
800
+ 0.09761935365305356,
801
+ 0.0352720477225507
802
+ ]
803
+ },
804
+ "observation.state": {
805
+ "min": [
806
+ 0.28968262672424316,
807
+ -0.3494202196598053,
808
+ 0.02053685300052166,
809
+ -3.1415882110595703,
810
+ -0.22723563015460968,
811
+ -0.8127349615097046,
812
+ 0.0046082064509391785,
813
+ -0.36555689573287964,
814
+ -0.79139643907547,
815
+ -0.28612110018730164,
816
+ -2.9160101413726807,
817
+ -0.07166637480258942,
818
+ 1.5651898384094238,
819
+ 0.7248340249061584,
820
+ 0.2924121022224426,
821
+ -0.3524710536003113,
822
+ 0.01279701292514801,
823
+ -3.141592502593994,
824
+ -0.25283846259117126,
825
+ -0.8450496196746826
826
+ ],
827
+ "max": [
828
+ 0.7325760126113892,
829
+ 0.24172019958496094,
830
+ 0.49050530791282654,
831
+ 3.1415915489196777,
832
+ 0.18641851842403412,
833
+ 0.3819117546081543,
834
+ 0.5310578942298889,
835
+ 0.2561173737049103,
836
+ 0.9269512891769409,
837
+ 0.29409217834472656,
838
+ -1.3908720016479492,
839
+ 0.3454619348049164,
840
+ 2.948124885559082,
841
+ 1.2524783611297607,
842
+ 0.7366000413894653,
843
+ 0.24512070417404175,
844
+ 0.5002957582473755,
845
+ 3.141591787338257,
846
+ 0.20241104066371918,
847
+ 0.3887965679168701
848
+ ],
849
+ "mean": [
850
+ 0.4705503686879627,
851
+ -0.07799388578169436,
852
+ 0.19342355089107988,
853
+ 0.21494177258819966,
854
+ 0.0007228650062723319,
855
+ -0.19648135692237403,
856
+ 0.12377448152234238,
857
+ -0.08028432678887878,
858
+ 0.11769867453941245,
859
+ -0.044676729173480846,
860
+ -2.1981577878343703,
861
+ 0.015259936578865277,
862
+ 2.310183793997694,
863
+ 0.8549687621455554,
864
+ 0.47589808840489706,
865
+ -0.08104901298260213,
866
+ 0.19171867111419222,
867
+ 0.3427802194474238,
868
+ 0.004778495053573751,
869
+ -0.20980958080672546
870
+ ],
871
+ "std": [
872
+ 0.10823951059160164,
873
+ 0.15072889429939906,
874
+ 0.18269839723895914,
875
+ 3.088996621422988,
876
+ 0.06032729672262224,
877
+ 0.24482267327611462,
878
+ 0.20113571478913458,
879
+ 0.1378412733431474,
880
+ 0.5853142077353901,
881
+ 0.1229221025447112,
882
+ 0.22649370843306973,
883
+ 0.023003528318014062,
884
+ 0.4650148185137636,
885
+ 0.07262163601415955,
886
+ 0.10819981800372372,
887
+ 0.15344170467383803,
888
+ 0.1821185076543446,
889
+ 3.0770012540342107,
890
+ 0.06153140738548124,
891
+ 0.2511354353399673
892
+ ],
893
+ "count": [
894
+ 24011
895
+ ],
896
+ "q01": [
897
+ 0.3052174462966799,
898
+ -0.2983796516399353,
899
+ 0.023961793275591704,
900
+ -3.1395253708545305,
901
+ -0.08723953602346436,
902
+ -0.5546753172626632,
903
+ 0.004667090109071718,
904
+ -0.2828196297748627,
905
+ -0.7851868916626904,
906
+ -0.2071494247978689,
907
+ -2.4633365279298496,
908
+ -0.0003071888864122349,
909
+ 1.571379258871863,
910
+ 0.7867163773375059,
911
+ 0.306464365750803,
912
+ -0.30190105578077686,
913
+ 0.020732352836721986,
914
+ -3.0647811255310042,
915
+ -0.09410613477307984,
916
+ -0.5695596975901422
917
+ ],
918
+ "q10": [
919
+ 0.30620725542831045,
920
+ -0.2972503258781435,
921
+ 0.029957048376377124,
922
+ -3.0608834981381388,
923
+ -0.057344336160319954,
924
+ -0.5521733080181045,
925
+ 0.004667090109071718,
926
+ -0.282704954301183,
927
+ -0.7850068477704744,
928
+ -0.20400673948810363,
929
+ -2.4267241583310892,
930
+ 0.0010855971014400434,
931
+ 1.571379258871863,
932
+ 0.7898257477528423,
933
+ 0.3067676437397549,
934
+ -0.2999924728653264,
935
+ 0.027832111647790453,
936
+ -3.061163022986946,
937
+ -0.051273187339128876,
938
+ -0.5616211384473107
939
+ ],
940
+ "q50": [
941
+ 0.5132481349437309,
942
+ -0.0046298650559013135,
943
+ 0.09426971786752805,
944
+ -0.47196049375590077,
945
+ 0.007001727833024785,
946
+ -0.055196467560471286,
947
+ 0.004667090109071718,
948
+ -0.001901409354478803,
949
+ 0.4015279846543276,
950
+ -0.008060454836824632,
951
+ -2.20600947768078,
952
+ 0.015952853333830428,
953
+ 2.5859129010886877,
954
+ 0.8683099961288601,
955
+ 0.5173665753770126,
956
+ -0.004975514441936209,
957
+ 0.09318667115523922,
958
+ 0.307659928205498,
959
+ 0.007746353959284051,
960
+ -0.06303689121088897
961
+ ],
962
+ "q90": [
963
+ 0.5697775025106666,
964
+ 0.05690341537465069,
965
+ 0.48376851474845867,
966
+ 3.1149145788053003,
967
+ 0.06175290904755176,
968
+ 0.01347645697051622,
969
+ 0.4737146407485847,
970
+ 0.02895764667809333,
971
+ 0.6645444748965267,
972
+ 0.08434890280692656,
973
+ -1.924361299646212,
974
+ 0.029127817747776487,
975
+ 2.711799494357225,
976
+ 0.899468424849264,
977
+ 0.5743500440620215,
978
+ 0.05754213888257962,
979
+ 0.48570356714604174,
980
+ 3.115737808960413,
981
+ 0.06984876855590985,
982
+ 0.012007546453542683
983
+ ],
984
+ "q99": [
985
+ 0.5812126819865848,
986
+ 0.06322920878850816,
987
+ 0.4839473045066631,
988
+ 3.1383144115544552,
989
+ 0.09761935365305356,
990
+ 0.0352720477225507,
991
+ 0.4751783602706564,
992
+ 0.029692959550496004,
993
+ 0.6672350848484534,
994
+ 0.09256811607458514,
995
+ -1.917833860955786,
996
+ 0.03243226906951448,
997
+ 2.7187155189209777,
998
+ 0.9031717460207437,
999
+ 0.5826649713337875,
1000
+ 0.06426027470704565,
1001
+ 0.4861193137724752,
1002
+ 3.1388842749077113,
1003
+ 0.1176069144097154,
1004
+ 0.03763975299393089
1005
+ ]
1006
+ },
1007
+ "timestamp": {
1008
+ "min": [
1009
+ 0.0
1010
+ ],
1011
+ "max": [
1012
+ 30.066666666666666
1013
+ ],
1014
+ "mean": [
1015
+ 11.364033151472242
1016
+ ],
1017
+ "std": [
1018
+ 6.732366741620384
1019
+ ],
1020
+ "count": [
1021
+ 24011
1022
+ ],
1023
+ "q01": [
1024
+ 0.19761578334543703
1025
+ ],
1026
+ "q10": [
1027
+ 2.2451882831788144
1028
+ ],
1029
+ "q50": [
1030
+ 11.351945280079857
1031
+ ],
1032
+ "q90": [
1033
+ 20.476546294028797
1034
+ ],
1035
+ "q99": [
1036
+ 22.530450519599043
1037
+ ]
1038
+ }
1039
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5e592ec6fd38d0009aa4ef20f355e764e9b518e61b95cdafca759e30bbd209b9
3
+ size 2073
videos/observation.images.primary/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:79a93179c50a1a14edb2ed2b26c5db4def1e92dd0cd76d4280b8eca637c39723
3
+ size 103698367
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f5244b5e969f2257943a9dcbcf133dc344ccacc35e065862c0077a065015d83b
3
+ size 32147396