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a/data/chunk-000/episode_000011.parquet +++ b/data/chunk-000/episode_000011.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:de5a70cf950b8e4c45dbae04f911097b917727f9bc144ea1f91a76befa91c014 -size 6552 +oid sha256:58e1accd0da9b2eac0fb1d0fee2073e205e39a18bc31249e8f2359bed814fd0b +size 18880 diff --git a/data/chunk-000/episode_000012.parquet b/data/chunk-000/episode_000012.parquet index 310c35e8ddfdf1ed5980e2c843bced5d249af680..57922e6b0ae18a3de85649db55cced0aab9cdb74 100644 --- a/data/chunk-000/episode_000012.parquet +++ b/data/chunk-000/episode_000012.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1725c338421c30ec7ddce549d6cb186f951f9896db2185e275681212a5f740f9 -size 40131 +oid sha256:b10a42f448981f100433e06ac016470cf7405802afcf80f01178cf19f306cecf +size 20043 diff --git a/data/chunk-000/episode_000013.parquet b/data/chunk-000/episode_000013.parquet index 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b/data/chunk-000/episode_000015.parquet index 1111fa567f1346a02d2f77593d14ea038b319e61..4a84531d0705e391dde1aa3af7b5a0595b9b0920 100644 --- a/data/chunk-000/episode_000015.parquet +++ b/data/chunk-000/episode_000015.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:030275f558ca33dd33d8ffa38095dbd235bc933fe817ac9a63d1d666586851d2 -size 3965 +oid sha256:4f8a2449fb245e37f2fbc39fb635a25763936840648a297b9ecb59c094e82b83 +size 21019 diff --git a/data/chunk-000/episode_000016.parquet b/data/chunk-000/episode_000016.parquet index 9a75a2efbac13fed220583fa5e7cff16a8eca93b..8cbf732f9cb715b0fe960df250be1479999f97fe 100644 --- a/data/chunk-000/episode_000016.parquet +++ b/data/chunk-000/episode_000016.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:df40ba9ea740ad158a798038e7fdc58aaa877a849efb558fe32ac19bf4f896fe -size 44888 +oid sha256:19111c40443e41737f4b0ab39b6325c2e30a317041d1fb450a0a877ae436b111 +size 19486 diff --git a/data/chunk-000/episode_000017.parquet b/data/chunk-000/episode_000017.parquet index 4d65562eafd8755b09304c339c5198566ebc93be..44a767c8d52f4ee1f8dc3de9f9b8b8aa1c3de4ef 100644 --- a/data/chunk-000/episode_000017.parquet +++ b/data/chunk-000/episode_000017.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8c10ec168d8d2de28edc95db5123dd18a978ff42ad3ed64a60c50c067c5bd607 -size 10263 +oid sha256:6f1f3d34eb6d48486d7a146303a796d301e6fc53851f7d1671331d6395cda393 +size 23262 diff --git a/data/chunk-000/episode_000018.parquet b/data/chunk-000/episode_000018.parquet index 2c859a0a1da6b692117c04b58af3182b513dd946..4dbc6114fbaba0bb6e75baa3c0968093878d7001 100644 --- a/data/chunk-000/episode_000018.parquet +++ b/data/chunk-000/episode_000018.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:04f28a0ef6d478df8587ad09661d6669c7d5a8653af665ddae2814d84f9616de -size 41913 +oid sha256:a816e3c2e9d90fcc5199bf05d62f5aa54c50381c464c708f970dfd0a9490f369 +size 18378 diff --git a/meta/.ipynb_checkpoints/episodes-checkpoint.jsonl b/meta/.ipynb_checkpoints/episodes-checkpoint.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1029c6e530154abff8ebdc564b37d5725dabe6f --- /dev/null +++ b/meta/.ipynb_checkpoints/episodes-checkpoint.jsonl @@ -0,0 +1,19 @@ +{"episode_index": 0, "tasks": ["move the colored lego block to the marker"], "length": 123} +{"episode_index": 1, "tasks": ["move the colored lego block to the marker"], "length": 97} +{"episode_index": 2, "tasks": ["move the colored lego block to the marker"], "length": 126} +{"episode_index": 3, "tasks": ["move the colored lego block to the marker"], "length": 104} +{"episode_index": 4, "tasks": ["move the colored lego block to the marker"], "length": 99} +{"episode_index": 5, "tasks": ["move the colored lego block to the marker"], "length": 114} +{"episode_index": 6, "tasks": ["move the colored lego block to the marker"], "length": 112} +{"episode_index": 7, "tasks": ["move the colored lego block to the marker"], "length": 116} +{"episode_index": 8, "tasks": ["move the colored lego block to the marker"], "length": 102} +{"episode_index": 9, "tasks": ["move the colored lego block to the marker"], "length": 99} +{"episode_index": 10, "tasks": ["move the colored lego block to the marker"], "length": 97} +{"episode_index": 11, "tasks": ["move the colored lego block to the marker"], "length": 98} +{"episode_index": 12, "tasks": ["move the colored lego block to the marker"], "length": 107} +{"episode_index": 13, "tasks": ["move the colored lego block to the marker"], "length": 95} +{"episode_index": 14, "tasks": ["move the colored lego block to the marker"], "length": 93} +{"episode_index": 15, "tasks": ["move the colored lego block to the marker"], "length": 113} +{"episode_index": 16, "tasks": ["move the colored lego block to the marker"], "length": 103} +{"episode_index": 17, "tasks": ["move the colored lego block to the marker"], "length": 130} +{"episode_index": 18, "tasks": ["move the colored lego block to the marker"], "length": 94} diff --git a/meta/.ipynb_checkpoints/info-checkpoint.json b/meta/.ipynb_checkpoints/info-checkpoint.json index 659893ffb1b7ef3edcaf307ad067a12f55a39007..69cfc3adb46b2dc84eb7db506fa6c2a3f8482d0b 100644 --- a/meta/.ipynb_checkpoints/info-checkpoint.json +++ b/meta/.ipynb_checkpoints/info-checkpoint.json @@ -1,15 +1,15 @@ { "codebase_version": "v2.1", "robot_type": null, - "total_episodes": 47, - "total_frames": 4966, + "total_episodes": 19, + "total_frames": 2022, "total_tasks": 1, - "total_videos": 141, + "total_videos": 57, "total_chunks": 1, "chunks_size": 1000, - "fps": 30, + "fps": 10, "splits": { - "train": "0:47" + "train": "0:19" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", @@ -17,7 +17,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 32 + 18 ], "names": [ "tcp_left_pos_x", @@ -37,50 +37,39 @@ "gripper_left_0", "gripper_left_1", "gripper_right_0", - "gripper_right_1", - "last_command_left_0", - "last_command_left_1", - "last_command_left_2", - "last_command_left_3", - "last_command_left_4", - "last_command_left_5", - "last_command_left_6", - "last_command_right_0", - "last_command_right_1", - "last_command_right_2", - "last_command_right_3", - "last_command_right_4", - "last_command_right_5", - "last_command_right_6" + "gripper_right_1" ] }, "action": { "dtype": "float32", "shape": [ - 14 + 17 ], "names": [ - "delta_tcp_left_x", - "delta_tcp_left_y", - "delta_tcp_left_z", - "delta_tcp_left_rot_x", - "delta_tcp_left_rot_y", - "delta_tcp_left_rot_z", - "delta_tcp_right_x", - "delta_tcp_right_y", - "delta_tcp_right_z", - "delta_tcp_right_rot_x", - "delta_tcp_right_rot_y", - "delta_tcp_right_rot_z", + "tcp_left_x", + "tcp_left_y", + "tcp_left_z", + "tcp_left_quat_x", + "tcp_left_quat_y", + "tcp_left_quat_z", + "tcp_left_quat_w", + "tcp_right_x", + "tcp_right_y", + "tcp_right_z", + "tcp_right_quat_x", + "tcp_right_quat_y", + "tcp_right_quat_z", + "tcp_right_quat_w", "gripper_left", - "gripper_right" + "gripper_right", + "termination_signal" ] }, "observation.images.rgb_static": { "dtype": "video", "shape": [ - 640, - 640, + 256, + 256, 3 ], "names": [ @@ -89,12 +78,12 @@ "channel" ], "info": { - "video.height": 640, - "video.width": 640, + "video.height": 256, + "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, - "video.fps": 30, + "video.fps": 10, "video.channels": 3, "has_audio": false } @@ -102,8 +91,8 @@ "observation.images.rgb_left": { "dtype": "video", "shape": [ - 640, - 640, + 256, + 256, 3 ], "names": [ @@ -112,12 +101,12 @@ "channel" ], "info": { - "video.height": 640, - "video.width": 640, + "video.height": 256, + "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, - "video.fps": 30, + "video.fps": 10, "video.channels": 3, "has_audio": false } @@ -125,8 +114,8 @@ "observation.images.rgb_right": { "dtype": "video", "shape": [ - 640, - 640, + 256, + 256, 3 ], "names": [ @@ -135,12 +124,12 @@ "channel" ], "info": { - "video.height": 640, - "video.width": 640, + "video.height": 256, + "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, - "video.fps": 30, + "video.fps": 10, "video.channels": 3, "has_audio": false } diff --git a/meta/.ipynb_checkpoints/pipeline_config-checkpoint.json b/meta/.ipynb_checkpoints/pipeline_config-checkpoint.json new file mode 100644 index 0000000000000000000000000000000000000000..258c8d9696dc8de323787fd80a073d57a3428be0 --- /dev/null +++ b/meta/.ipynb_checkpoints/pipeline_config-checkpoint.json @@ -0,0 +1,30 @@ +{ + "include_joint_positions": false, + "include_joint_velocities": false, + "include_joint_efforts": false, + "include_tcp_poses": true, + "include_last_command": false, + "include_rgb_images": true, + "include_depth_images": false, + "image_resolution": [ + 256, + 256 + ], + "depth_scale_factor": 1000.0, + "action_level": "tcp", + "left_gripper": "panda", + "right_gripper": "panda", + "termination_horizon_seconds": 0.5, + "task_name": "move the colored lego block to the marker", + "max_pause_seconds": 0.2, + "pause_velocity": 0.03, + "save_pauses": false, + "gripper_active_speed": 0.05, + "boost_factor": 1, + "grace_period_seconds": 0.2, + "save_normal": false, + "recording_fps": 30, + "target_fps": 10, + "subsample_offset": 0, + "min_episode_seconds": 1 +} \ No newline at end of file diff --git a/meta/.ipynb_checkpoints/tasks-checkpoint.jsonl b/meta/.ipynb_checkpoints/tasks-checkpoint.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d56025ef79210098bb0e27e5253200c472369b12 --- /dev/null +++ b/meta/.ipynb_checkpoints/tasks-checkpoint.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "move the colored lego block to the marker"} diff --git a/meta/blacklist.json b/meta/blacklist.json index 9621ddf31722c5caf1731d23be0f9d5f79d6e945..0637a088a01e8ddab3bf3fa98dbe804cbde1a0dc 100644 --- a/meta/blacklist.json +++ b/meta/blacklist.json @@ -1,12 +1 @@ -[ - 4, - 16, - 32, - 34, - 43, - 44, - 47, - 48, - 49, - 50 -] \ No newline at end of file +[] \ No newline at end of file diff --git a/meta/episode_mapping.json b/meta/episode_mapping.json index 026d7b8415631fe67f5fa4bbd112a6531ba3c7dc..6a4f52aa39022f06969c8f8ff42fe7486742acf4 100644 --- a/meta/episode_mapping.json +++ b/meta/episode_mapping.json @@ -1,49 +1,21 @@ { - "0": "/data/20250916_152117/episodes/episodes_0.mcap", - "1": "/data/20250916_152117/episodes/episodes_1.mcap", - "2": "/data/20250916_152117/episodes/episodes_2.mcap", - "3": "/data/20250916_152117/episodes/episodes_3.mcap", - "4": "/data/20250916_152117/episodes/episodes_4.mcap", - "5": "/data/20250916_152117/episodes/episodes_5.mcap", - "6": "/data/20250916_152117/episodes/episodes_6.mcap", - "7": "/data/20250916_152117/episodes/episodes_7.mcap", - "8": "/data/20250916_152117/episodes/episodes_8.mcap", - "9": "/data/20250916_152117/episodes/episodes_9.mcap", - "10": "/data/20250916_152117/episodes/episodes_10.mcap", - "11": "/data/20250916_152117/episodes/episodes_11.mcap", - "12": "/data/20250916_152117/episodes/episodes_12.mcap", - "13": "/data/20250916_152117/episodes/episodes_13.mcap", - "14": "/data/20250916_152117/episodes/episodes_14.mcap", - "15": "/data/20250916_152117/episodes/episodes_15.mcap", - "16": "/data/20250916_152117/episodes/episodes_16.mcap", - "17": "/data/20250916_152117/episodes/episodes_17.mcap", - "18": "/data/20250916_152117/episodes/episodes_18.mcap", - "19": "/data/20250916_152117/episodes/episodes_19.mcap", - "20": "/data/20250916_152117/episodes/episodes_20.mcap", - "21": "/data/20250916_152117/episodes/episodes_21.mcap", - "22": "/data/20250916_152117/episodes/episodes_22.mcap", - "23": "/data/20250916_152117/episodes/episodes_23.mcap", - "24": 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"/data/raw/1_single-stack/anonymous/20251201_095405_task_success_good.mcap", + "8": "/data/raw/1_single-stack/anonymous/20251201_095449_task_success_good.mcap", + "9": "/data/raw/1_single-stack/anonymous/20251201_095555_task_success_good.mcap", + "10": "/data/raw/1_single-stack/anonymous/20251201_095632_task_success_good.mcap", + "11": "/data/raw/1_single-stack/anonymous/20251201_095715_task_success_good.mcap", + "12": "/data/raw/1_single-stack/anonymous/20251201_095750_task_success_good.mcap", + "13": "/data/raw/1_single-stack/anonymous/20251201_095827_task_success_good.mcap", + "14": "/data/raw/1_single-stack/anonymous/20251201_095904_task_success_good.mcap", + "15": "/data/raw/1_single-stack/anonymous/20251201_095942_task_success_good.mcap", + "16": "/data/raw/1_single-stack/anonymous/20251201_100018_task_success_good.mcap", + "17": "/data/raw/1_single-stack/anonymous/20251201_100059_task_success_good.mcap", + "18": "/data/raw/1_single-stack/anonymous/20251201_100149_task_success_good.mcap" } \ No newline at end of file diff --git a/meta/episodes.jsonl b/meta/episodes.jsonl index 09583a43d4662ade3b1d28e9c4e7e7e3ea9dbff4..c1029c6e530154abff8ebdc564b37d5725dabe6f 100644 --- a/meta/episodes.jsonl +++ b/meta/episodes.jsonl @@ -1,47 +1,19 @@ -{"episode_index": 0, "tasks": ["pick the block with the right arm and put it in the middle, then use the left arm and put it in the middle."], "length": 254} -{"episode_index": 1, "tasks": ["pick the block with the right arm and put it in the middle, then use the left arm and put it in the middle."], "length": 26} -{"episode_index": 2, "tasks": ["pick the block with the right arm and put it in the middle, then use the left arm and put it in the middle."], "length": 239} -{"episode_index": 3, "tasks": ["pick the block with the right arm and put it in the middle, then use the left arm and put it in the middle."], "length": 2} -{"episode_index": 4, "tasks": ["pick 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diff --git a/meta/info.json b/meta/info.json index 659893ffb1b7ef3edcaf307ad067a12f55a39007..69cfc3adb46b2dc84eb7db506fa6c2a3f8482d0b 100644 --- a/meta/info.json +++ b/meta/info.json @@ -1,15 +1,15 @@ { "codebase_version": "v2.1", "robot_type": null, - "total_episodes": 47, - "total_frames": 4966, + "total_episodes": 19, + "total_frames": 2022, "total_tasks": 1, - "total_videos": 141, + "total_videos": 57, "total_chunks": 1, "chunks_size": 1000, - "fps": 30, + "fps": 10, "splits": { - "train": "0:47" + "train": "0:19" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", @@ -17,7 +17,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 32 + 18 ], "names": [ "tcp_left_pos_x", @@ -37,50 +37,39 @@ "gripper_left_0", "gripper_left_1", "gripper_right_0", - "gripper_right_1", - "last_command_left_0", - "last_command_left_1", - "last_command_left_2", - "last_command_left_3", - "last_command_left_4", - "last_command_left_5", - "last_command_left_6", - "last_command_right_0", - "last_command_right_1", - "last_command_right_2", - "last_command_right_3", - "last_command_right_4", - "last_command_right_5", - "last_command_right_6" + "gripper_right_1" ] }, "action": { "dtype": "float32", "shape": [ - 14 + 17 ], "names": [ - "delta_tcp_left_x", - "delta_tcp_left_y", - "delta_tcp_left_z", - "delta_tcp_left_rot_x", - "delta_tcp_left_rot_y", - "delta_tcp_left_rot_z", - "delta_tcp_right_x", - "delta_tcp_right_y", - "delta_tcp_right_z", - "delta_tcp_right_rot_x", - "delta_tcp_right_rot_y", - "delta_tcp_right_rot_z", + "tcp_left_x", + "tcp_left_y", + "tcp_left_z", + "tcp_left_quat_x", + "tcp_left_quat_y", + "tcp_left_quat_z", + "tcp_left_quat_w", + "tcp_right_x", + "tcp_right_y", + "tcp_right_z", + "tcp_right_quat_x", + "tcp_right_quat_y", + "tcp_right_quat_z", + "tcp_right_quat_w", "gripper_left", - "gripper_right" + "gripper_right", + "termination_signal" ] }, "observation.images.rgb_static": { "dtype": "video", "shape": [ - 640, - 640, + 256, + 256, 3 ], "names": [ @@ -89,12 +78,12 @@ "channel" ], "info": { - "video.height": 640, - "video.width": 640, + "video.height": 256, + "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, - "video.fps": 30, + "video.fps": 10, "video.channels": 3, "has_audio": false } @@ -102,8 +91,8 @@ "observation.images.rgb_left": { "dtype": "video", "shape": [ - 640, - 640, + 256, + 256, 3 ], "names": [ @@ -112,12 +101,12 @@ "channel" ], "info": { - "video.height": 640, - "video.width": 640, + "video.height": 256, + "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, - "video.fps": 30, + "video.fps": 10, "video.channels": 3, "has_audio": false } @@ -125,8 +114,8 @@ "observation.images.rgb_right": { "dtype": "video", "shape": [ - 640, - 640, + 256, + 256, 3 ], "names": [ @@ -135,12 +124,12 @@ "channel" ], "info": { - "video.height": 640, - "video.width": 640, + "video.height": 256, + "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, - "video.fps": 30, + "video.fps": 10, "video.channels": 3, "has_audio": false } diff --git a/meta/pipeline_config.json b/meta/pipeline_config.json index 97f17273e2b16a032d6baaa0932347b22381ca83..258c8d9696dc8de323787fd80a073d57a3428be0 100644 --- a/meta/pipeline_config.json +++ b/meta/pipeline_config.json @@ -3,14 +3,19 @@ "include_joint_velocities": false, "include_joint_efforts": false, "include_tcp_poses": true, - "include_last_command": true, + "include_last_command": false, "include_rgb_images": true, "include_depth_images": false, + "image_resolution": [ + 256, + 256 + ], "depth_scale_factor": 1000.0, - "action_level": "delta_tcp", + "action_level": "tcp", "left_gripper": "panda", "right_gripper": "panda", - "task_name": "pick the block with the right arm and put it in the middle, then use the left arm and put it in the middle.", + "termination_horizon_seconds": 0.5, + "task_name": "move the colored lego block to the marker", "max_pause_seconds": 0.2, "pause_velocity": 0.03, "save_pauses": false, diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl index bbbe38405f5f1b48302dcb789f310fbccef6e9e8..d56025ef79210098bb0e27e5253200c472369b12 100644 --- a/meta/tasks.jsonl +++ b/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "pick the block with the right arm and put it in the middle, then use the left arm and put it in the middle."} +{"task_index": 0, "task": "move the colored lego block to the marker"} diff --git a/videos/chunk-000/observation.images.rgb_left/episode_000000.mp4 b/videos/chunk-000/observation.images.rgb_left/episode_000000.mp4 index 98f10f9b132d7833fcf8f449332666b05b05f05e..867a97e3d37221408fe7d7d510479d44677245b1 100644 --- a/videos/chunk-000/observation.images.rgb_left/episode_000000.mp4 +++ 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