Hugging Face's logo

Datasets:
cbrian
/
dataset_D1_cartesian

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
cbrian commited on
Commit
3dfdf13
·
verified ·
1 Parent(s): 7bbb14c

Upload folder using huggingface_hub

Browse files
Files changed (8) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/crisp_meta.json +94 -0
  3. meta/episodes/chunk-000/file-000.parquet +3 -0
  4. meta/info.json +208 -0
  5. meta/stats.json +1039 -0
  6. meta/tasks.parquet +3 -0
  7. videos/observation.images.primary/chunk-000/file-000.mp4 +3 -0
  8. videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0ef0707f024b03bc869461391f7d9bdc9031ca4dacb7ed7be038027d7ea86894
3
+ size 1819771
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 sha256:981fbb69731e1bc580fc6c9b8ee0f65e3683ca85a995f39079d0c9d6b7816718
3
+ size 186631
meta/info.json ADDED
@@ -0,0 +1,208 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "panda",
4
+ "total_episodes": 20,
5
+ "total_frames": 6878,
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": "0:20"
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 26.4
8
+ ],
9
+ "mean": [
10
+ 11.481680721139867
11
+ ],
12
+ "std": [
13
+ 6.707625662387249
14
+ ],
15
+ "count": [
16
+ 6878
17
+ ],
18
+ "q01": [
19
+ 0.19711171198856645
20
+ ],
21
+ "q10": [
22
+ 2.2649438921364524
23
+ ],
24
+ "q50": [
25
+ 11.470793486478529
26
+ ],
27
+ "q90": [
28
+ 20.695470995912373
29
+ ],
30
+ "q99": [
31
+ 22.76624973029116
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "min": [
36
+ 0.3043903112411499,
37
+ -0.3068876266479492,
38
+ 0.043185316026210785,
39
+ -3.141578435897827,
40
+ -0.09784068912267685,
41
+ -0.6770687699317932,
42
+ 0.0013003349304199219,
43
+ -0.30957624316215515,
44
+ -0.7873560190200806,
45
+ -0.2877255976200104,
46
+ -2.416267156600952,
47
+ -0.09626714140176773,
48
+ 1.571791648864746,
49
+ 0.7100428342819214,
50
+ 0.3056145906448364,
51
+ -0.31067296862602234,
52
+ 0.038586828857660294,
53
+ -3.141550302505493,
54
+ -0.0929766446352005,
55
+ -0.689443051815033
56
+ ],
57
+ "max": [
58
+ 0.708987832069397,
59
+ 0.08085685223340988,
60
+ 0.48487210273742676,
61
+ 3.1415884494781494,
62
+ 0.13035590946674347,
63
+ 0.12856680154800415,
64
+ 0.3892589509487152,
65
+ 0.07164312899112701,
66
+ 0.8443887829780579,
67
+ 0.140560582280159,
68
+ -1.5072098970413208,
69
+ 0.054501574486494064,
70
+ 2.536040782928467,
71
+ 0.9658066034317017,
72
+ 0.7134240865707397,
73
+ 0.08315111696720123,
74
+ 0.4878786504268646,
75
+ 3.141572952270508,
76
+ 0.1634892225265503,
77
+ 0.1356518268585205
78
+ ],
79
+ "mean": [
80
+ 0.5303638779465351,
81
+ -0.05861972385324705,
82
+ 0.21650965985394938,
83
+ 0.12717858870714413,
84
+ 0.02024570943483843,
85
+ -0.16799545162862453,
86
+ 0.10311786458437856,
87
+ -0.06204568974047631,
88
+ 0.2040683635382952,
89
+ -0.038438094357653094,
90
+ -1.9950583733663756,
91
+ 0.00012309385634579333,
92
+ 2.173816147048863,
93
+ 0.8563606385385342,
94
+ 0.5377711171880646,
95
+ -0.060859676476488905,
96
+ 0.21422152471649816,
97
+ 0.32763365820357887,
98
+ 0.03165160819447233,
99
+ -0.18159167361522907
100
+ ],
101
+ "std": [
102
+ 0.12707063849754308,
103
+ 0.14031376216206304,
104
+ 0.16285780709007575,
105
+ 3.093405221095312,
106
+ 0.030884393924758148,
107
+ 0.2344680886823808,
108
+ 0.16723776152211,
109
+ 0.12221555177272972,
110
+ 0.5646269700825277,
111
+ 0.11421711092295725,
112
+ 0.2575390823807282,
113
+ 0.021625431031984825,
114
+ 0.3343318350140463,
115
+ 0.054538352115266336,
116
+ 0.12698234374863485,
117
+ 0.14356111637671118,
118
+ 0.1632821063986545,
119
+ 3.0790093918561685,
120
+ 0.03576511327286865,
121
+ 0.24230126839035865
122
+ ],
123
+ "count": [
124
+ 6878
125
+ ],
126
+ "q01": [
127
+ 0.30621339432918454,
128
+ -0.2903465002477443,
129
+ 0.04735301903025612,
130
+ -2.8452143024918617,
131
+ -0.03854242437000392,
132
+ -0.5498750094691572,
133
+ 0.001308553092547008,
134
+ -0.26644640711741974,
135
+ -0.7852825341817598,
136
+ -0.2160884964998519,
137
+ -2.3954902599379264,
138
+ -0.018303697063039148,
139
+ 1.5718829698880143,
140
+ 0.7865139344259209,
141
+ 0.3068564537947862,
142
+ -0.29389190965403844,
143
+ 0.0444695155826132,
144
+ -2.845285077992858,
145
+ -0.043000377683574516,
146
+ -0.5644739290761476
147
+ ],
148
+ "q10": [
149
+ 0.3063927861293224,
150
+ -0.2885923789182419,
151
+ 0.05741700914644086,
152
+ -2.5321524337870307,
153
+ -0.012163992949145892,
154
+ -0.5478372735942488,
155
+ 0.001308553092547008,
156
+ -0.2663273925000791,
157
+ -0.7851991785246307,
158
+ -0.21158056477489778,
159
+ -2.3621772839873723,
160
+ -0.012457970724555569,
161
+ 1.5718829698880143,
162
+ 0.7870681420871212,
163
+ 0.3068856405902058,
164
+ -0.291614299916048,
165
+ 0.05658038109814293,
166
+ -2.5328478201487257,
167
+ -0.007264062111241629,
168
+ -0.5588625216014748
169
+ ],
170
+ "q50": [
171
+ 0.5384627338036665,
172
+ 0.002491452755810644,
173
+ 0.15682669534063873,
174
+ -0.6109092255172481,
175
+ 0.020127167289163205,
176
+ -0.03336111297087697,
177
+ 0.001308553092547008,
178
+ -0.000791478210717863,
179
+ 0.4532652799840359,
180
+ 0.0026627737445983125,
181
+ -1.9476886705856808,
182
+ -0.0003629107937949751,
183
+ 2.3238382639147295,
184
+ 0.879188315585338,
185
+ 0.5440923470207312,
186
+ 0.0030702905734398913,
187
+ 0.15429262737612212,
188
+ -0.01171684584595126,
189
+ 0.03277273374931516,
190
+ -0.04172625569932457
191
+ ],
192
+ "q90": [
193
+ 0.6713580544651265,
194
+ 0.06612083712751418,
195
+ 0.4841058104068505,
196
+ 3.1185831288476176,
197
+ 0.053635290005741465,
198
+ 0.016860596480029848,
199
+ 0.3854518210620574,
200
+ 0.036122708470216494,
201
+ 0.7656603339074909,
202
+ 0.06944008599154385,
203
+ -1.658401878190223,
204
+ 0.013956005271332492,
205
+ 2.4843252890176055,
206
+ 0.9031975526456126,
207
+ 0.6791693356316879,
208
+ 0.0675496164877625,
209
+ 0.4858463054733023,
210
+ 3.1242991351447476,
211
+ 0.06767636437155172,
212
+ 0.01758601922278239
213
+ ],
214
+ "q99": [
215
+ 0.6832729974436306,
216
+ 0.0707587782912122,
217
+ 0.48418278431450107,
218
+ 3.1400217520679266,
219
+ 0.07835046957129696,
220
+ 0.050927138749042866,
221
+ 0.3854876201294553,
222
+ 0.03661172781094574,
223
+ 0.7809040794046638,
224
+ 0.0759134256534263,
225
+ -1.6316826006124907,
226
+ 0.014643860102672752,
227
+ 2.487554290446741,
228
+ 0.9036276658006817,
229
+ 0.6881539983362802,
230
+ 0.07290182493297258,
231
+ 0.48596654674328954,
232
+ 3.1401066492055243,
233
+ 0.10448871318235728,
234
+ 0.055496331202091034
235
+ ]
236
+ },
237
+ "observation.state.cartesian": {
238
+ "min": [
239
+ 0.3043903112411499,
240
+ -0.3068876266479492,
241
+ 0.043185316026210785,
242
+ -3.141578435897827,
243
+ -0.09784068912267685,
244
+ -0.6770687699317932
245
+ ],
246
+ "max": [
247
+ 0.708987832069397,
248
+ 0.08085685223340988,
249
+ 0.48487210273742676,
250
+ 3.1415884494781494,
251
+ 0.13035590946674347,
252
+ 0.12856680154800415
253
+ ],
254
+ "mean": [
255
+ 0.5303638779465351,
256
+ -0.05861972385324705,
257
+ 0.21650965985394938,
258
+ 0.12717858870714413,
259
+ 0.02024570943483843,
260
+ -0.16799545162862453
261
+ ],
262
+ "std": [
263
+ 0.12707063849754308,
264
+ 0.14031376216206304,
265
+ 0.16285780709007575,
266
+ 3.093405221095312,
267
+ 0.030884393924758148,
268
+ 0.2344680886823808
269
+ ],
270
+ "count": [
271
+ 6878
272
+ ],
273
+ "q01": [
274
+ 0.30621339432918454,
275
+ -0.2903465002477443,
276
+ 0.04735301903025612,
277
+ -2.8452143024918617,
278
+ -0.03854242437000392,
279
+ -0.5498750094691572
280
+ ],
281
+ "q10": [
282
+ 0.3063927861293224,
283
+ -0.2885923789182419,
284
+ 0.05741700914644086,
285
+ -2.5321524337870307,
286
+ -0.012163992949145892,
287
+ -0.5478372735942488
288
+ ],
289
+ "q50": [
290
+ 0.5384627338036665,
291
+ 0.002491452755810644,
292
+ 0.15682669534063873,
293
+ -0.6109092255172481,
294
+ 0.020127167289163205,
295
+ -0.03336111297087697
296
+ ],
297
+ "q90": [
298
+ 0.6713580544651265,
299
+ 0.06612083712751418,
300
+ 0.4841058104068505,
301
+ 3.1185831288476176,
302
+ 0.053635290005741465,
303
+ 0.016860596480029848
304
+ ],
305
+ "q99": [
306
+ 0.6832729974436306,
307
+ 0.0707587782912122,
308
+ 0.48418278431450107,
309
+ 3.1400217520679266,
310
+ 0.07835046957129696,
311
+ 0.050927138749042866
312
+ ]
313
+ },
314
+ "observation.images.primary": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0196078431372549
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.3806726231593711
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.3871821125105316
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.3635453590542663
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0028115610510116708
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.00227766082863566
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.002259017203408023
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 2000
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.074098260222535
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.12097166510061469
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ 0.11157697023216878
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.1988676537914621
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.23627989840542477
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.23229732321695315
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.2950866297726792
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.337838830127597
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.3269191416536713
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.7176596887095318
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.5782417103053589
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.5635095376084835
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.9916962489414798
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.9968211954748515
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.976722488767264
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "episode_index": {
473
+ "min": [
474
+ 0
475
+ ],
476
+ "max": [
477
+ 19
478
+ ],
479
+ "mean": [
480
+ 9.40229717941262
481
+ ],
482
+ "std": [
483
+ 5.713294461214776
484
+ ],
485
+ "count": [
486
+ 6878
487
+ ],
488
+ "q01": [
489
+ 9.40229717941262
490
+ ],
491
+ "q10": [
492
+ 9.40229717941262
493
+ ],
494
+ "q50": [
495
+ 9.402297179412644
496
+ ],
497
+ "q90": [
498
+ 9.402297179412656
499
+ ],
500
+ "q99": [
501
+ 9.40229717941266
502
+ ]
503
+ },
504
+ "observation.state.target": {
505
+ "min": [
506
+ 0.3056145906448364,
507
+ -0.31067296862602234,
508
+ 0.038586828857660294,
509
+ -3.141550302505493,
510
+ -0.0929766446352005,
511
+ -0.689443051815033
512
+ ],
513
+ "max": [
514
+ 0.7134240865707397,
515
+ 0.08315111696720123,
516
+ 0.4878786504268646,
517
+ 3.141572952270508,
518
+ 0.1634892225265503,
519
+ 0.1356518268585205
520
+ ],
521
+ "mean": [
522
+ 0.5377711171880646,
523
+ -0.060859676476488905,
524
+ 0.21422152471649816,
525
+ 0.32763365820357887,
526
+ 0.03165160819447233,
527
+ -0.18159167361522907
528
+ ],
529
+ "std": [
530
+ 0.12698234374863485,
531
+ 0.14356111637671118,
532
+ 0.1632821063986545,
533
+ 3.0790093918561685,
534
+ 0.03576511327286865,
535
+ 0.24230126839035865
536
+ ],
537
+ "count": [
538
+ 6878
539
+ ],
540
+ "q01": [
541
+ 0.3068564537947862,
542
+ -0.29389190965403844,
543
+ 0.0444695155826132,
544
+ -2.845285077992858,
545
+ -0.043000377683574516,
546
+ -0.5644739290761476
547
+ ],
548
+ "q10": [
549
+ 0.3068856405902058,
550
+ -0.291614299916048,
551
+ 0.05658038109814293,
552
+ -2.5328478201487257,
553
+ -0.007264062111241629,
554
+ -0.5588625216014748
555
+ ],
556
+ "q50": [
557
+ 0.5440923470207312,
558
+ 0.0030702905734398913,
559
+ 0.15429262737612212,
560
+ -0.01171684584595126,
561
+ 0.03277273374931516,
562
+ -0.04172625569932457
563
+ ],
564
+ "q90": [
565
+ 0.6791693356316879,
566
+ 0.0675496164877625,
567
+ 0.4858463054733023,
568
+ 3.1242991351447476,
569
+ 0.06767636437155172,
570
+ 0.01758601922278239
571
+ ],
572
+ "q99": [
573
+ 0.6881539983362802,
574
+ 0.07290182493297258,
575
+ 0.48596654674328954,
576
+ 3.1401066492055243,
577
+ 0.10448871318235728,
578
+ 0.055496331202091034
579
+ ]
580
+ },
581
+ "observation.state.gripper": {
582
+ "min": [
583
+ 0.0013003349304199219
584
+ ],
585
+ "max": [
586
+ 0.3892589509487152
587
+ ],
588
+ "mean": [
589
+ 0.10311784788827523
590
+ ],
591
+ "std": [
592
+ 0.16723775906427346
593
+ ],
594
+ "count": [
595
+ 6878
596
+ ],
597
+ "q01": [
598
+ 0.001308553092547008
599
+ ],
600
+ "q10": [
601
+ 0.001308553092547008
602
+ ],
603
+ "q50": [
604
+ 0.001308553092547008
605
+ ],
606
+ "q90": [
607
+ 0.3854518210620574
608
+ ],
609
+ "q99": [
610
+ 0.3854876201294553
611
+ ]
612
+ },
613
+ "action": {
614
+ "min": [
615
+ -0.009993470273911953,
616
+ -0.019278664141893387,
617
+ -0.009825869463384151,
618
+ -0.02583230659365654,
619
+ -0.017393821850419044,
620
+ -0.03859196603298187,
621
+ 0.0
622
+ ],
623
+ "max": [
624
+ 0.01058228500187397,
625
+ 0.005706482101231813,
626
+ 0.011548635549843311,
627
+ 0.026782624423503876,
628
+ 0.020803162828087807,
629
+ 0.025392500683665276,
630
+ 1.0
631
+ ],
632
+ "mean": [
633
+ 0.0006866275822140811,
634
+ -0.0008466989147918547,
635
+ -0.0012188956052645516,
636
+ -0.00024046884331248698,
637
+ 0.0002526367727424074,
638
+ -0.0015990928737010658,
639
+ 0.2644664156021819
640
+ ],
641
+ "std": [
642
+ 0.00281489986051715,
643
+ 0.0028759121746214427,
644
+ 0.0031280936635739408,
645
+ 0.0017475585232308345,
646
+ 0.0038464638415582025,
647
+ 0.005611773695641847,
648
+ 0.441048666483524
649
+ ],
650
+ "count": [
651
+ 6878
652
+ ],
653
+ "q01": [
654
+ -0.006719203147531182,
655
+ -0.012677443705632008,
656
+ -0.0075208205058576285,
657
+ -0.0065479579264339114,
658
+ -0.010613342283879102,
659
+ -0.024620708774281845,
660
+ -1.000000013351432e-10
661
+ ],
662
+ "q10": [
663
+ -0.002240630644105491,
664
+ -0.004094574040073579,
665
+ -0.00518705627992565,
666
+ -0.0019530440931725419,
667
+ -0.004309391534074003,
668
+ -0.006703044097750348,
669
+ -1.000000013351432e-10
670
+ ],
671
+ "q50": [
672
+ 2.0663390648812644e-06,
673
+ -2.99661455924347e-07,
674
+ -0.0004087535830446976,
675
+ 1.1140601788408661e-06,
676
+ 3.1191396699473544e-06,
677
+ -8.206429565404446e-06,
678
+ -1.000000013351432e-10
679
+ ],
680
+ "q90": [
681
+ 0.004775511051018217,
682
+ 0.0008542261567637303,
683
+ 0.0011686951578156026,
684
+ 0.0010113277576479754,
685
+ 0.004859428510219335,
686
+ 0.0013199296861715825,
687
+ 0.9999240210345339
688
+ ],
689
+ "q99": [
690
+ 0.0075750786912925135,
691
+ 0.0030173199882299706,
692
+ 0.00788442258651992,
693
+ 0.0030481632912089255,
694
+ 0.010606675501725974,
695
+ 0.006045276403571196,
696
+ 0.9999924021034534
697
+ ]
698
+ },
699
+ "observation.state.joints": {
700
+ "min": [
701
+ -0.30957624316215515,
702
+ -0.7873560190200806,
703
+ -0.2877255976200104,
704
+ -2.416267156600952,
705
+ -0.09626714140176773,
706
+ 1.571791648864746,
707
+ 0.7100428342819214
708
+ ],
709
+ "max": [
710
+ 0.07164312899112701,
711
+ 0.8443887829780579,
712
+ 0.140560582280159,
713
+ -1.5072098970413208,
714
+ 0.054501574486494064,
715
+ 2.536040782928467,
716
+ 0.9658066034317017
717
+ ],
718
+ "mean": [
719
+ -0.06204568974047631,
720
+ 0.2040683635382952,
721
+ -0.038438094357653094,
722
+ -1.9950583733663756,
723
+ 0.00012309385634579333,
724
+ 2.173816147048863,
725
+ 0.8563606385385342
726
+ ],
727
+ "std": [
728
+ 0.12221555177272972,
729
+ 0.5646269700825277,
730
+ 0.11421711092295725,
731
+ 0.2575390823807282,
732
+ 0.021625431031984825,
733
+ 0.3343318350140463,
734
+ 0.054538352115266336
735
+ ],
736
+ "count": [
737
+ 6878
738
+ ],
739
+ "q01": [
740
+ -0.26644640711741974,
741
+ -0.7852825341817598,
742
+ -0.2160884964998519,
743
+ -2.3954902599379264,
744
+ -0.018303697063039148,
745
+ 1.5718829698880143,
746
+ 0.7865139344259209
747
+ ],
748
+ "q10": [
749
+ -0.2663273925000791,
750
+ -0.7851991785246307,
751
+ -0.21158056477489778,
752
+ -2.3621772839873723,
753
+ -0.012457970724555569,
754
+ 1.5718829698880143,
755
+ 0.7870681420871212
756
+ ],
757
+ "q50": [
758
+ -0.000791478210717863,
759
+ 0.4532652799840359,
760
+ 0.0026627737445983125,
761
+ -1.9476886705856808,
762
+ -0.0003629107937949751,
763
+ 2.3238382639147295,
764
+ 0.879188315585338
765
+ ],
766
+ "q90": [
767
+ 0.036122708470216494,
768
+ 0.7656603339074909,
769
+ 0.06944008599154385,
770
+ -1.658401878190223,
771
+ 0.013956005271332492,
772
+ 2.4843252890176055,
773
+ 0.9031975526456126
774
+ ],
775
+ "q99": [
776
+ 0.03661172781094574,
777
+ 0.7809040794046638,
778
+ 0.0759134256534263,
779
+ -1.6316826006124907,
780
+ 0.014643860102672752,
781
+ 2.487554290446741,
782
+ 0.9036276658006817
783
+ ]
784
+ },
785
+ "observation.images.wrist": {
786
+ "min": [
787
+ [
788
+ [
789
+ 0.0
790
+ ]
791
+ ],
792
+ [
793
+ [
794
+ 0.00392156862745098
795
+ ]
796
+ ],
797
+ [
798
+ [
799
+ 0.0
800
+ ]
801
+ ]
802
+ ],
803
+ "max": [
804
+ [
805
+ [
806
+ 1.0
807
+ ]
808
+ ],
809
+ [
810
+ [
811
+ 1.0
812
+ ]
813
+ ],
814
+ [
815
+ [
816
+ 1.0
817
+ ]
818
+ ]
819
+ ],
820
+ "mean": [
821
+ [
822
+ [
823
+ 0.4038595349180931
824
+ ]
825
+ ],
826
+ [
827
+ [
828
+ 0.4152353141934264
829
+ ]
830
+ ],
831
+ [
832
+ [
833
+ 0.3942454500086167
834
+ ]
835
+ ]
836
+ ],
837
+ "std": [
838
+ [
839
+ [
840
+ 0.009453366229485121
841
+ ]
842
+ ],
843
+ [
844
+ [
845
+ 0.007524751301441004
846
+ ]
847
+ ],
848
+ [
849
+ [
850
+ 0.009167875129856281
851
+ ]
852
+ ]
853
+ ],
854
+ "count": [
855
+ 2000
856
+ ],
857
+ "q01": [
858
+ [
859
+ [
860
+ 0.14960182471131248
861
+ ]
862
+ ],
863
+ [
864
+ [
865
+ 0.145874460919524
866
+ ]
867
+ ],
868
+ [
869
+ [
870
+ 0.0964562538338192
871
+ ]
872
+ ]
873
+ ],
874
+ "q10": [
875
+ [
876
+ [
877
+ 0.22023348012320407
878
+ ]
879
+ ],
880
+ [
881
+ [
882
+ 0.2572675287281068
883
+ ]
884
+ ],
885
+ [
886
+ [
887
+ 0.23782816349230676
888
+ ]
889
+ ]
890
+ ],
891
+ "q50": [
892
+ [
893
+ [
894
+ 0.32863968842744173
895
+ ]
896
+ ],
897
+ [
898
+ [
899
+ 0.3594350720814351
900
+ ]
901
+ ],
902
+ [
903
+ [
904
+ 0.3482382948408409
905
+ ]
906
+ ]
907
+ ],
908
+ "q90": [
909
+ [
910
+ [
911
+ 0.6784254540280679
912
+ ]
913
+ ],
914
+ [
915
+ [
916
+ 0.6158773374615636
917
+ ]
918
+ ],
919
+ [
920
+ [
921
+ 0.5992090443930882
922
+ ]
923
+ ]
924
+ ],
925
+ "q99": [
926
+ [
927
+ [
928
+ 0.9959130957005612
929
+ ]
930
+ ],
931
+ [
932
+ [
933
+ 0.9964211711163937
934
+ ]
935
+ ],
936
+ [
937
+ [
938
+ 0.9919493543355493
939
+ ]
940
+ ]
941
+ ]
942
+ },
943
+ "frame_index": {
944
+ "min": [
945
+ 0
946
+ ],
947
+ "max": [
948
+ 396
949
+ ],
950
+ "mean": [
951
+ 172.225210817098
952
+ ],
953
+ "std": [
954
+ 100.61438493580872
955
+ ],
956
+ "count": [
957
+ 6878
958
+ ],
959
+ "q01": [
960
+ 2.9566756812044237
961
+ ],
962
+ "q10": [
963
+ 33.97415838317066
964
+ ],
965
+ "q50": [
966
+ 172.05876440825813
967
+ ],
968
+ "q90": [
969
+ 310.432064937562
970
+ ],
971
+ "q99": [
972
+ 341.49374595299145
973
+ ]
974
+ },
975
+ "task_index": {
976
+ "min": [
977
+ 0
978
+ ],
979
+ "max": [
980
+ 0
981
+ ],
982
+ "mean": [
983
+ 0.0
984
+ ],
985
+ "std": [
986
+ 0.0
987
+ ],
988
+ "count": [
989
+ 6878
990
+ ],
991
+ "q01": [
992
+ 3.999999999999417e-16
993
+ ],
994
+ "q10": [
995
+ 3.999999999999416e-15
996
+ ],
997
+ "q50": [
998
+ 1.9999999999997084e-14
999
+ ],
1000
+ "q90": [
1001
+ 3.5999999999994754e-14
1002
+ ],
1003
+ "q99": [
1004
+ 3.9599999999994235e-14
1005
+ ]
1006
+ },
1007
+ "index": {
1008
+ "min": [
1009
+ 0
1010
+ ],
1011
+ "max": [
1012
+ 6877
1013
+ ],
1014
+ "mean": [
1015
+ 3438.5
1016
+ ],
1017
+ "std": [
1018
+ 1985.507554757725
1019
+ ],
1020
+ "count": [
1021
+ 6878
1022
+ ],
1023
+ "q01": [
1024
+ 3269.2314648641072
1025
+ ],
1026
+ "q10": [
1027
+ 3300.2489475660723
1028
+ ],
1029
+ "q50": [
1030
+ 3438.3366914800813
1031
+ ],
1032
+ "q90": [
1033
+ 3576.706854120464
1034
+ ],
1035
+ "q99": [
1036
+ 3607.768535135893
1037
+ ]
1038
+ }
1039
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f0e86312eea208e1be2269a8c96f48c5c1352fdd95a2e9e58081a810fb78d9b5
3
+ size 2083
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:b7d523df08f93325fe92e0c607afe103d3a191fc7f54d6846e6c230da7b4594c
3
+ size 25485359
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:ecd91e2838331188dfb4e0b5330ac063b19260ce02e46980b1a3a784137d4b2b
3
+ size 8209185